Robotics, Data science and Healthcare technologies wiki_rdh https://rdh.icube.unistra.fr/index.php?title=Main_Page MediaWiki 1.39.10 first-letter Média Spécial Discussion Utilisateur Discussion utilisateur Robotics, Data science and Healthcare technologies Discussion Robotics, Data science and Healthcare technologies Fichier Discussion fichier MediaWiki Discussion MediaWiki Modèle Discussion modèle Aide Discussion aide Catégorie Discussion catégorie Intranet Intanet talk Group1 Group1 talk Group2 Group2 talk Group3 Group3 talk Workspace Workspace talk Gadget Discussion gadget Définition de gadget Discussion définition de gadget 8 3 4 2022-03-15T15:36:36Z Admin 2 Created page with " * navigation ** mainpage|Welcome ** Members|Members ** Publications|Publications * Research themes| ** Medical robotics and Interventional imaging|Medical robotics and Inter..." wikitext text/x-wiki * navigation ** mainpage|Welcome ** Members|Members ** Publications|Publications * Research themes| ** Medical 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** mainpage|Welcome ** Members|Members ** https://publis.icube.unistra.fr/?allaut=or&team=23|Publications * Research themes ** Medical robotics and Interventional imaging|Medical robotics and Interventional imaging ** Learning, modelling and data science|Learning, modelling and data science ** Complex systems and parsimony|Complex systems and parsimony * Platforms ** IRIS|IRIS (French) * Job offers ** Interships|Interships ** PhD|PhD ** Postdoc|Postdoc 16bb58de11881ca24d01ff0982e2a2bfc4ab5c2c 0 4 5 2022-03-15T15:47:40Z Admin 2 Created page with "<iframe key="papr" path="?author=&allaut=or&title=&team=23&platform=&national=&project=&tagmed=&year1=&year2=&anyweb=#hideMenu" /> ---- =Admin= '''Pour ajouter une référe..." wikitext text/x-wiki <iframe key="papr" path="?author=&allaut=or&title=&team=23&platform=&national=&project=&tagmed=&year1=&year2=&anyweb=#hideMenu" /> ---- =Admin= '''Pour ajouter une référence [https://icube-publis.unistra.fr/ Intranet ICube] ''' 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Heading text == <slideshow sequence="random" transition="fade" refresh="1000" center="true"> <div>[[Image:Image1.png|right|128px|Caption 1]]</div> <div>[[Image:Image2.png|right|128px|Caption 2]]</div> </slideshow> [[Medical robotics and Interventional imaging]] == Heading text == d2eca162c072c4874ab1f5dc968125e25e2e9917 16 15 2022-05-13T19:48:59Z L.cuvillon 9 wikitext text/x-wiki == Heading text == <slideshow sequence="random" transition="fade" refresh="1000" center="true"> <div>[[Image:Image1.png|right|128px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div>[[Image:Image2.png|right|128px|Caption 2]]</div> </slideshow> == Heading text == e9cd1569edcd8a4a41f9b924be410f8b1bce596e 18 16 2022-05-13T19:52:04Z L.cuvillon 9 wikitext text/x-wiki == Heading text == <slideshow sequence="random" transition="fade" refresh="1000" center="true"> <div>[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div>[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> == Heading text == 4fbc14a0253d81eee0e729a0830c02fb0fb9f99a 19 18 2022-05-13T19:55:25Z L.cuvillon 9 wikitext text/x-wiki <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 742px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=10><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Image1.png Image:Image2.png </gallery> </div> </div> </div> </div></div> == Heading text == <slideshow sequence="random" transition="fade" refresh="1000" center="true"> <div>[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div>[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> <gallery> Example.jpg|Caption1 Example.jpg|Caption2 </gallery> == Heading text == 4dbbbf48c90739de701ebec1832b69f2e571121a 20 19 2022-05-13T19:56:18Z L.cuvillon 9 wikitext text/x-wiki <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 400px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=2><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Image1.png Image:Image2.png </gallery> </div> </div> </div> </div></div> == Heading text == <slideshow sequence="random" transition="fade" refresh="1000" center="true"> <div>[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div>[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> <gallery> Example.jpg|Caption1 Example.jpg|Caption2 </gallery> == Heading text == 552fba00d30a073df0ca07e118ece83030418024 21 20 2022-05-13T19:58:58Z L.cuvillon 9 wikitext text/x-wiki <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 400px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=2><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Image1.png Image:Image2.png </gallery> </div> </div> </div> </div></div> == Heading text == <slideshow sequence="random" transition="fade" refresh="1000" center="true"> <div>[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div>[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> == Heading text == faf43afb04194c03cbc6eb099392c47b5fbb494c 22 21 2022-05-13T19:59:39Z L.cuvillon 9 wikitext text/x-wiki <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 400px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=2><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Image1.png Image:Image2.png </gallery> </div> </div> </div> </div></div> == Heading text == <div style="position: relative; height: 1%;"> <slideshow sequence="random" transition="fade" refresh="1000" center="true"> <div>[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div>[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> == Heading text == b43839e3f5ee0ded44afc3281d734637578d7194 23 22 2022-05-13T20:00:34Z L.cuvillon 9 wikitext text/x-wiki <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 400px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=2><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Image1.png Image:Image2.png </gallery> </div> </div> </div> </div></div> == Heading text == <slideshow sequence="random" transition="fade" refresh="1000" center="true"> <div style="position: relative; height: 1%;">[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> == Heading text == 6f7d282737868cd5c94fed34394d0aa0034eca0c 24 23 2022-05-13T20:04:21Z L.cuvillon 9 wikitext text/x-wiki <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 400px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=2><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Image1.png Image:Image2.png </gallery> </div> </div> </div> </div></div> == Heading text == <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="1000" center="true"> <div style="position: relative; height: 1%;">[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> == Heading text == == Heading text == ec0239b89784f7e9b124f7859dc799b79b0d90c8 25 24 2022-05-13T20:04:44Z L.cuvillon 9 /* Heading text */ wikitext text/x-wiki <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 400px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=2><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Image1.png Image:Image2.png </gallery> </div> </div> </div> </div></div> ==Test slideshow == <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="1000" center="true"> <div style="position: relative; height: 1%;">[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> == Heading text == == Heading text == 54952db80aaf54cc0fddbefc2300800e925cf1a5 26 25 2022-05-13T20:04:54Z L.cuvillon 9 wikitext text/x-wiki <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 400px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=2><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Image1.png Image:Image2.png </gallery> </div> </div> </div> </div></div> ==Test slideshow == <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="1000" center="true"> <div style="position: relative; height: 1%;">[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> dfbc4de35944e6cf74a5195cb22605840ccd295b 27 26 2022-05-13T20:14:51Z L.cuvillon 9 wikitext text/x-wiki <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 400px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=2><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Image1.png Image:Image2.png </gallery> </div> </div> </div> </div></div> {{#slideshow: <div>Tick</div><div>Tock</div> |id=bar refresh=1000 }} ==Test slideshow == <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="1000" center="true"> <div style="position: relative; height: 1%;">[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> d86e7917b3cc7929462cfcb06173720a7de9fdda 28 27 2022-05-13T20:15:15Z L.cuvillon 9 wikitext text/x-wiki <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 400px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=2><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Image1.png Image:Image2.png </gallery> </div> </div> </div> </div></div> {{#slideshow: <div style="position: relative; height: 1%;">[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> |id=bar refresh=1000 }} ==Test slideshow == <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="1000" center="true"> <div style="position: relative; height: 1%;">[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> 116434aacc958ae5eea3aa52ec4c839409b0e6e1 29 28 2022-05-13T20:15:48Z L.cuvillon 9 wikitext text/x-wiki <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 400px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=2><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Image1.png Image:Image2.png </gallery> </div> </div> </div> </div></div> {{#slideshow: <div>[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div>[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> |id=bar refresh=1000 }} ==Test slideshow == <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="1000" center="true"> <div style="position: relative; height: 1%;">[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> ebd2c6c892b9f8cee802a29b5ee506b70c6cc6f9 30 29 2022-05-13T20:17:29Z L.cuvillon 9 Undo revision 29 by [[Special:Contributions/L.cuvillon|L.cuvillon]] ([[User talk:L.cuvillon|talk]]) wikitext text/x-wiki <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 400px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=2><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Image1.png Image:Image2.png </gallery> </div> </div> </div> </div></div> {{#slideshow: <div style="position: relative; height: 1%;">[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> |id=bar refresh=1000 }} ==Test slideshow == <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="1000" center="true"> <div style="position: relative; height: 1%;">[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> 116434aacc958ae5eea3aa52ec4c839409b0e6e1 31 30 2022-05-13T20:17:52Z L.cuvillon 9 wikitext text/x-wiki <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 400px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=2><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Image1.png Image:Image2.png </gallery> </div> </div> </div> </div></div> <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 742px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{#slideshow: <div style="position: relative; height: 1%;">[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> |id=bar refresh=1000 }} </div> </div></div> ==Test slideshow == <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="1000" center="true"> <div style="position: relative; height: 1%;">[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> 4e3b521ce169073af93f8104e18e04b7e2d413eb 32 31 2022-05-13T20:18:42Z L.cuvillon 9 wikitext text/x-wiki <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 400px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=2><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Image1.png Image:Image2.png </gallery> </div> </div> </div> </div></div> <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 742px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{#slideshow: <div style="position: relative; height: 1%;">[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> |id=bar refresh=1000 }} </div> </div></div> ==Test slideshow == <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 742px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="1000" center="true"> <div style="position: relative; height: 1%;">[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> </div> </div></div> == Heading text == 72fb7f96efa68540e3aed8592e0a1352f2323c46 33 32 2022-05-13T20:19:27Z L.cuvillon 9 wikitext text/x-wiki <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 400px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=2><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Image1.png Image:Image2.png </gallery> </div> </div> </div> </div></div> <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 742px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{#slideshow: <div style="position: relative; height: 1%;">[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> |id=bar refresh=3000 }} </div> </div></div> ==Test slideshow == <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 742px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> </div> </div></div> == Heading text == 2e7ddd1a45da0e3f8a69157a104031b2863ba78b 34 33 2022-05-13T20:24:58Z L.cuvillon 9 wikitext text/x-wiki <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 400px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=2><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Image1.png Image:Image2.png </gallery> </div> </div> </div> </div></div> <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 742px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{#slideshow: <div style="position: relative; height: 1%;">[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> |id=bar refresh=3000 }} </div> </div></div> ==Test slideshow == <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 742px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> </div> </div></div> == Heading text == <gallery mode="slideshow"> Image:Image1.png|''[[commons:Astronotus ocellatus|Astronotus ocellatus]]'' (Oscar) Image:Image2.png|''[[commons:Salmo salar|Salmo salar]]'' (Salmon Larva) </gallery> 58bfa337375d9fb38340782c2a67f34b57d63c0a 35 34 2022-05-13T20:27:45Z L.cuvillon 9 wikitext text/x-wiki <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 400px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=2><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Image1.png Image:Image2.png </gallery> </div> </div> </div> </div></div> ==Test slideshow == <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 742px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> </div> </div></div> == Heading text == <gallery mode="slideshow"> Image:Image1.png|''[[commons:Astronotus ocellatus|Astronotus ocellatus]]'' (Oscar) Image:Image2.png|''[[commons:Salmo salar|Salmo salar]]'' (Salmon Larva) </gallery> 134d03eb6d62404bf044aa7597d1f6a06eb5263e 36 35 2022-05-13T20:35:30Z L.cuvillon 9 wikitext text/x-wiki <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 400px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=2><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Image1.png Image:Image2.png </gallery> </div> </div> </div> </div></div> ==Test slideshow == <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 742px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> </div> </div></div> == Heading text == <gallery mode="slideshow"> Image:Image1.png|400px|''[[commons:Astronotus ocellatus|Astronotus ocellatus]]'' (Oscar) Image:Image2.png|400px|''[[commons:Salmo salar|Salmo salar]]'' (Salmon Larva) </gallery> b7e83267de1f251284022290e48638a53e968d6c 37 36 2022-05-13T20:35:58Z L.cuvillon 9 wikitext text/x-wiki <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 400px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=2><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Image1.png Image:Image2.png </gallery> </div> </div> </div> </div></div> ==Test slideshow == <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 742px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> </div> </div></div> == Heading text == <gallery mode="slideshow"> Image:Image1.png|300px|''[[commons:Astronotus ocellatus|Astronotus ocellatus]]'' (Oscar) Image:Image2.png|300px|''[[commons:Salmo salar|Salmo salar]]'' (Salmon Larva) </gallery> 84ad64a49dc5d1be42f5373799b294127caa17fc 38 37 2022-05-13T20:37:46Z L.cuvillon 9 wikitext text/x-wiki <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 400px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=2><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Image1.png Image:Image2.png </gallery> </div> </div> </div> </div></div> ==Test slideshow == <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 742px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> </div> </div></div> == Heading text == <gallery mode="slideshow" widths=300px> Image:Image1.png|right|thumb|300px|''[[commons:Astronotus ocellatus|Astronotus ocellatus]]'' (Oscar) Image:Image2.png|right|thumb|300px|''[[commons:Salmo salar|Salmo salar]]'' (Salmon Larva) </gallery> d3bc710339f12993c1188cd7e2e1c7a4233028bb 39 38 2022-05-13T20:40:10Z L.cuvillon 9 wikitext text/x-wiki ==Test slideshow == <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 742px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> </div> </div></div> == Heading text == <gallery mode="slideshow" widths=300px> Image:Image1.png|right|frameless|300px|''[[commons:Astronotus ocellatus|Astronotus ocellatus]]'' (Oscar) Image:Image2.png|right|frameless|300px|''[[commons:Salmo salar|Salmo salar]]'' (Salmon Larva) </gallery> == Heading text == <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 400px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=2><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Image1.png Image:Image2.png </gallery> </div> </div> </div> </div></div> 827193242afe61be6fab91c86e304ce21d5bb4ab 40 39 2022-05-16T17:40:25Z L.cuvillon 9 wikitext text/x-wiki ==Test slideshow == <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 742px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> </div> </div></div> == Heading text == <gallery mode="slideshow" widths=300px> Image:Image1.png|right|frameless|300px|''[[commons:Astronotus ocellatus|Astronotus ocellatus]]'' (Oscar) Image:Image2.png|right|frameless|300px|''[[commons:Salmo salar|Salmo salar]]'' (Salmon Larva) </gallery> == Heading text == <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 400px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=10><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Image1.png Image:Image2.png Image:Image1.png Image:Image2.png Image:Image1.png Image:Image2.png Image:Image1.png Image:Image2.png Image:Image1.png Image:Image2.png </gallery> </div> </div> </div> </div></div> 6499783d464fb6b2ff2c45a269f1b96e739a000c 41 40 2022-05-16T17:41:54Z L.cuvillon 9 wikitext text/x-wiki ==Test slideshow == <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 742px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> </div> </div></div> == Heading text == <gallery mode="slideshow" widths=300px> Image:Image1.png|right|frameless|300px|''[[commons:Astronotus ocellatus|Astronotus ocellatus]]'' (Oscar) Image:Image2.png|right|frameless|300px|''[[commons:Salmo salar|Salmo salar]]'' (Salmon Larva) </gallery> == Heading text == <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 800px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 500px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=10><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Image1.png Image:Image2.png Image:Image1.png Image:Image2.png Image:Image1.png Image:Image2.png Image:Image1.png Image:Image2.png Image:Image1.png Image:Image2.png </gallery> </div> </div> </div> </div></div> 3e2886ccd37f2b0a2d2640d2369dc37aff3387dd 42 41 2022-05-16T17:43:07Z L.cuvillon 9 /* Heading text */ wikitext text/x-wiki ==Test slideshow == <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 742px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> </div> </div></div> == Heading text == <gallery mode="slideshow" widths=300px> Image:Image1.png|right|frameless|300px|''[[commons:Astronotus ocellatus|Astronotus ocellatus]]'' (Oscar) Image:Image2.png|right|frameless|300px|''[[commons:Salmo salar|Salmo salar]]'' (Salmon Larva) </gallery> == Heading text == <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 800px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 600px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=10><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Image1.png Image:Image2.png Image:Image1.png Image:Image2.png Image:Image1.png Image:Image2.png Image:Image1.png Image:Image2.png Image:Image1.png Image:Image2.png </gallery> </div> </div> </div> </div></div> 20f38f883b27082df95fa008a517e28fe5ec2ef6 43 42 2022-05-16T17:47:14Z L.cuvillon 9 /* Heading text */ wikitext text/x-wiki ==Test slideshow == <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 742px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> </div> </div></div> == Heading text == <gallery mode="slideshow" widths=300px> Image:Image1.png|right|frameless|300px|''[[commons:Astronotus ocellatus|Astronotus ocellatus]]'' (Oscar) Image:Image2.png|right|frameless|300px|''[[commons:Salmo salar|Salmo salar]]'' (Salmon Larva) </gallery> == Heading text == <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 800px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 600px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=5><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Image1.png Image:Image2.png Image:Image1.png Image:Image2.png Image:Image1.png </div> </div> </div> </div></div> 479fb4cf84669af293f8cd4426fda424a00b4ed5 44 43 2022-05-16T17:47:51Z L.cuvillon 9 /* Heading text */ wikitext text/x-wiki ==Test slideshow == <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 742px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Image1.png|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Image2.png|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> </div> </div></div> == Heading text == <gallery mode="slideshow" widths=300px> Image:Image1.png|right|frameless|300px|''[[commons:Astronotus ocellatus|Astronotus ocellatus]]'' (Oscar) Image:Image2.png|right|frameless|300px|''[[commons:Salmo salar|Salmo salar]]'' (Salmon Larva) </gallery> == Heading text == <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 800px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 600px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=5><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Image1.png Image:Image2.png Image:Image1.png Image:Image2.png Image:Image1.png </gallery> </div> </div> </div> </div></div> a00045b7610bb1bc1ca907acff2b5769212d542d 48 44 2022-05-18T19:39:31Z L.cuvillon 9 wikitext text/x-wiki [[File:Im1.jpg.jpg|thumb]] [[File:Im2.jpg.jpg|thumb]] [[File:Im3.jpg.jpg|thumb]] ==Test slideshow == <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 742px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div style="position: relative; height: 1%;">[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> </div> </div></div> == Heading text == <gallery mode="slideshow" widths=300px> File:Im1.jpg.jpg|right|frameless|300px|''[[commons:Astronotus ocellatus|Astronotus ocellatus]]'' (Oscar) File:Im2.jpg.jpg|right|frameless|300px|''[[commons:Salmo salar|Salmo salar]]'' (Salmon Larva) File:Im3.jpg.jpg|right|frameless|300px|''[[commons:Salmo salar|Salmo salar]]'' (Salmon Larva) </gallery> == Heading text == <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 800px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 600px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=5><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Im1.jpg.jpg Image:Im2.jpg.jpg Image:Im3.jpg.jpg Image:Im2.jpg.jpg Image:Im3.jpg.jpg Image:Im1.jpg.jpg Image:Im2.jpg.jpg </gallery> </div> </div> </div> </div></div> 79ba7008cf759dabc4a02181aeb44990d1d18520 49 48 2022-05-18T19:39:39Z L.cuvillon 9 wikitext text/x-wiki ==Test slideshow == <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 742px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div style="position: relative; height: 1%;">[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> </div> </div></div> == Heading text == <gallery mode="slideshow" widths=300px> File:Im1.jpg.jpg|right|frameless|300px|''[[commons:Astronotus ocellatus|Astronotus ocellatus]]'' (Oscar) File:Im2.jpg.jpg|right|frameless|300px|''[[commons:Salmo salar|Salmo salar]]'' (Salmon Larva) File:Im3.jpg.jpg|right|frameless|300px|''[[commons:Salmo salar|Salmo salar]]'' (Salmon Larva) </gallery> == Heading text == <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 800px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 600px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=5><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Im1.jpg.jpg Image:Im2.jpg.jpg Image:Im3.jpg.jpg Image:Im2.jpg.jpg Image:Im3.jpg.jpg Image:Im1.jpg.jpg Image:Im2.jpg.jpg </gallery> </div> </div> </div> </div></div> 4333acc2199b38a2eb85103da52bdb6411177419 50 49 2022-05-18T19:41:00Z L.cuvillon 9 wikitext text/x-wiki ==Test slideshow == <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 742px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div style="position: relative; height: 1%;">[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> </div> </div></div> == Heading text == <gallery mode="slideshow" widths=300px> File:Im1.jpg.jpg|right|frameless|300px|''[[commons:Astronotus ocellatus|Astronotus ocellatus]]'' (Oscar) File:Im2.jpg.jpg|right|frameless|300px|''[[commons:Salmo salar|Salmo salar]]'' (Salmon Larva) File:Im3.jpg.jpg|right|frameless|300px|''[[commons:Salmo salar|Salmo salar]]'' (Salmon Larva) </gallery> == Heading text == <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 800px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=5><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Im1.jpg.jpg Image:Im2.jpg.jpg Image:Im3.jpg.jpg Image:Im2.jpg.jpg Image:Im3.jpg.jpg Image:Im1.jpg.jpg Image:Im2.jpg.jpg </gallery> </div> </div> </div> </div></div> 57dfce95a0178a44f63dd1e7365c8d3fb9347da9 51 50 2022-05-18T19:41:40Z L.cuvillon 9 wikitext text/x-wiki ==Test slideshow javascript == <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 742px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div style="position: relative; height: 1%;">[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> </div> </div></div> == Test gallery slideshow (manual) == <gallery mode="slideshow" widths=300px> File:Im1.jpg.jpg|right|frameless|300px|''[[commons:Astronotus ocellatus|Astronotus ocellatus]]'' (Oscar) File:Im2.jpg.jpg|right|frameless|300px|''[[commons:Salmo salar|Salmo salar]]'' (Salmon Larva) File:Im3.jpg.jpg|right|frameless|300px|''[[commons:Salmo salar|Salmo salar]]'' (Salmon Larva) </gallery> == Test slideshow CSS == <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 800px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=5><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Im1.jpg.jpg Image:Im2.jpg.jpg Image:Im3.jpg.jpg Image:Im2.jpg.jpg Image:Im3.jpg.jpg Image:Im1.jpg.jpg Image:Im2.jpg.jpg </gallery> </div> </div> </div> </div></div> f2a27e4103a2c78309a28f8d6da8afacf7f1e5f6 6 8 9 2022-05-13T19:41:11Z L.cuvillon 9 wikitext text/x-wiki image2 9b65b0f4a408b141df8deaafbc52a54a9b137167 0 9 13 2022-05-13T19:44:44Z L.cuvillon 9 Created blank page wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 14 13 2022-05-13T19:45:21Z L.cuvillon 9 wikitext text/x-wiki Medical a9a24cd153de7c91b664f54d1af1b3d78a8b47d0 0 10 17 2022-05-13T19:51:12Z L.cuvillon 9 Created page with "Learning" wikitext text/x-wiki Learning 1016fcb2b4ff485857c733a5a8bcf8240d24fddd 6 11 45 2022-05-18T19:34:25Z L.cuvillon 9 wikitext text/x-wiki Im1.jpg 6a874d14dcd58a9dcab534b9cedb7498fda9889f 6 12 46 2022-05-18T19:35:01Z L.cuvillon 9 wikitext text/x-wiki Im2.jpg 70908fc438fa676240ea77d3822b7dd674b72429 6 13 47 2022-05-18T19:35:30Z L.cuvillon 9 wikitext text/x-wiki Im3.jpg a9f3f843f1dc753e71c706262db38f9129f38631 8 3 54 53 2022-07-19T12:36:09Z Admin 2 wikitext text/x-wiki * navigation ** mainpage|Welcome ** Members|Members ** https://publis.icube.unistra.fr/?allaut=or&team=23|Publications * Research themes ** Medical robotics and Interventional imaging|Medical robotics and Interventional imaging ** Learning, modelling and data science|Learning, modelling and data science ** Complex systems and parsimony|Complex systems and parsimony * Partners ** https://healthtech.unistra.fr|ITI Healthtech ** https://cami-labex.fr/|Labex CAMI ** https://plateforme.icube.unistra.fr/iris/index.php/Accueil|IRIS Platform ** https://www.ihu-strasbourg.eu/|IHU Strasbourg ** Education|Education * Job offers ** Interships|Interships ** PhD|PhD ** Postdoc|Postdoc * ** Contact|Contact a9949ce1c71d32e1bb88698d8b05c240d02f2272 0 7 55 51 2022-07-19T13:55:03Z Bernard.bayle 5 wikitext text/x-wiki ==Test slideshow javascript == =<div style="position: relative; height: 1%;"> =<div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> = <div style="position: relative; margin: 0 auto; width: 742px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> =<div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> =<div id="wrapper"> =<slideshow sequence="random" transition="fade" refresh="3000" center="true"> =<div style="position: relative; height: 1%;">[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> =<div style="position: relative; height: 1%;">[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> =<div style="position: relative; height: 1%;">[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> =</slideshow> =</div> =</div> =</div></div> == Test gallery slideshow (manual) == <gallery mode="slideshow" widths=300px> File:Im1.jpg.jpg|right|frameless|300px|''[[commons:Astronotus ocellatus|Astronotus ocellatus]]'' (Oscar) File:Im2.jpg.jpg|right|frameless|300px|''[[commons:Salmo salar|Salmo salar]]'' (Salmon Larva) File:Im3.jpg.jpg|right|frameless|300px|''[[commons:Salmo salar|Salmo salar]]'' (Salmon Larva) </gallery> == Test slideshow CSS == <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 800px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=5><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Im1.jpg.jpg Image:Im2.jpg.jpg Image:Im3.jpg.jpg Image:Im2.jpg.jpg Image:Im3.jpg.jpg Image:Im1.jpg.jpg Image:Im2.jpg.jpg </gallery> </div> </div> </div> </div></div> 7fe18377a88258b9617a4e267df2255c339ce165 56 55 2022-07-19T13:56:07Z Bernard.bayle 5 /* Test slideshow javascript */ wikitext text/x-wiki ==Test slideshow javascript == <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 742px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div style="position: relative; height: 1%;">[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> </div> </div></div> == Test gallery slideshow (manual) == <gallery mode="slideshow" widths=300px> File:Im1.jpg.jpg|right|frameless|300px|''[[commons:Astronotus ocellatus|Astronotus ocellatus]]'' (Oscar) File:Im2.jpg.jpg|right|frameless|300px|''[[commons:Salmo salar|Salmo salar]]'' (Salmon Larva) File:Im3.jpg.jpg|right|frameless|300px|''[[commons:Salmo salar|Salmo salar]]'' (Salmon Larva) </gallery> == Test slideshow CSS == <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 800px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div class='wrapper'> <gallery mode="packed" widths=200px heights=300px perrow=5><!-- PERROW SHOULD BE THE SAME NUMBER AS THE TOTAL NUMBER OF IMAGES IF YOU WANT THE GALLERY TO LOOK LIKE A SLIDING ROW OF IMAGES. --> Image:Im1.jpg.jpg Image:Im2.jpg.jpg Image:Im3.jpg.jpg Image:Im2.jpg.jpg Image:Im3.jpg.jpg Image:Im1.jpg.jpg Image:Im2.jpg.jpg </gallery> </div> </div> </div> </div></div> a293c704aa3f5bcf10bd216dd05ada817ecfa71a 57 56 2022-07-19T13:59:26Z Bernard.bayle 5 wikitext text/x-wiki <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 742px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div style="position: relative; height: 1%;">[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> </div> 13e2bd421c785cbcc553de717ba88a69d05318dd 58 57 2022-07-19T14:11:40Z Bernard.bayle 5 wikitext text/x-wiki <div style="position: relative; height: 1%;"> <div style="position: relative; margin: 0 -1em; padding: 0; background-color: transparent; border: 1px none #ddd; height: 1%;"><!--YOU CAN ADD SHADING, BACKGROUND COLOR TO STYLE THIS --> <div style="position: relative; margin: 0 auto; width: 742px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 300px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div> The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. This choice has also the merit to put forward research recognized at the best international level, in particular in medical robotics and data science for health: * '''Medical Robotics and Interventional Imaging''' : this theme gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''Learning, modeling and data science''' : this theme gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''Complex systems and parsimony''': this theme gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. </div> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div style="position: relative; height: 1%;">[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> </div> db44386564e0600006e71c8fc08cb4578cc4d094 59 58 2022-07-19T14:18:31Z Bernard.bayle 5 wikitext text/x-wiki <div> The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. This choice has also the merit to put forward research recognized at the best international level, in particular in medical robotics and data science for health: * '''Medical Robotics and Interventional Imaging''' : this theme gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''Learning, modeling and data science''' : this theme gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''Complex systems and parsimony''': this theme gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. </div> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div style="position: relative; height: 1%;">[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> </div> dd203fffaa8c22a3a1536072086bf57030c69503 60 59 2022-07-19T14:19:07Z Bernard.bayle 5 wikitext text/x-wiki <div style="position: relative; margin: 0 auto; width: 742px;height: 1%;"><!-- RECOMMEND THE WIDTH IS SET TO LOOK GOOD ON IPADS ETC. THIS WILL BE THE TOTAL WIDTH VIEWABLE AREA --> <div style="position: relative; overflow: hidden; height: 500px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> <div> The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. This choice has also the merit to put forward research recognized at the best international level, in particular in medical robotics and data science for health: * '''Medical Robotics and Interventional Imaging''' : this theme gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''Learning, modeling and data science''' : this theme gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''Complex systems and parsimony''': this theme gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. </div> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div style="position: relative; height: 1%;">[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> </div> 8c4ecff3da9b289dd3daa86d974f9d03139f7668 61 60 2022-07-19T14:20:33Z Bernard.bayle 5 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 500px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. This choice has also the merit to put forward research recognized at the best international level, in particular in medical robotics and data science for health: * '''Medical Robotics and Interventional Imaging''' : this theme gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''Learning, modeling and data science''' : this theme gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''Complex systems and parsimony''': this theme gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div style="position: relative; height: 1%;">[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> </div> 0a4d478d54cb77482c50d4b0b799a29e72f1844d 100 61 2022-07-19T16:28:07Z Bernard.bayle 5 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 500px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. This choice has also the merit to put forward research recognized at the best international level, in particular in medical robotics and data science for health: * '''Medical Robotics and Interventional Imaging''' : this theme gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''Learning, modeling and data science''' : this theme gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''Complex systems and parsimony''': this theme gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div style="position: relative; height: 1%;">[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> </div> 8c773834999e2d1096d992228c3da0aff5f14783 101 100 2022-07-19T16:28:21Z Bernard.bayle 5 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 500px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. This choice has also the merit to put forward research recognized at the best international level, in particular in medical robotics and data science for health: * '''Medical Robotics and Interventional Imaging''' : this theme gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''Learning, modeling and data science''' : this theme gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''Complex systems and parsimony''': this theme gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div style="position: relative; height: 1%;">[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> </div> 29362d0b762310b4e936d9a8edd75e364d5a9102 102 101 2022-07-19T16:28:54Z Bernard.bayle 5 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 500px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. This choice has also the merit to put forward research recognized at the best international level, in particular in medical robotics and data science for health: * '''Medical Robotics and Interventional Imaging''' gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''Learning, modeling and data science''' gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''Complex systems and parsimony''' gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div style="position: relative; height: 1%;">[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> </div> 736128bf049f6210362d8f38766bff0af5d051ab 103 102 2022-07-19T16:29:06Z Bernard.bayle 5 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 500px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. This choice has also the merit to put forward research recognized at the best international level, in particular in medical robotics and data science for health: * '''Medical Robotics and Interventional Imaging''' gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''Learning, modeling and data science''' gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''Complex systems and parsimony''' gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div style="position: relative; height: 1%;">[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> </div> 16a824e6794c53c4362fdd50971f3f034a75a4d8 0 14 62 2022-07-19T14:21:18Z Bernard.bayle 5 Created page with "Education" wikitext text/x-wiki Education aaf87fe57ae6d323db5496e6e27b7bc55f15827c 63 62 2022-07-19T14:21:36Z Bernard.bayle 5 wikitext text/x-wiki Education (under construction, Edouard) 71c183be76ef0f64117bfe16a14a444e9e5fdddd 0 9 64 14 2022-07-19T14:22:32Z Bernard.bayle 5 wikitext text/x-wiki Under construction, Jonathan, Lennart, Benoit R. b533bd34d8e615149aab6972c92beb18262cce60 0 10 65 17 2022-07-19T14:22:51Z Bernard.bayle 5 wikitext text/x-wiki Under construction, Simon, Nicolas, Benoit R. 5c3120de145b2401c63dacedb818c5f565bab335 0 15 66 2022-07-19T14:23:10Z Bernard.bayle 5 Created page with "Under construction, Jacques, Lennart, Hassan" wikitext text/x-wiki Under construction, Jacques, Lennart, Hassan 2eb83ade42fc8e3f9a30ce8ab4126ba77df88b6b 0 16 67 2022-07-19T14:29:51Z Bernard.bayle 5 Created page with "'''[http://camma.u-strasbg.fr/opportunities CAMMA group]''': Computational Analysis and Modeling of Medical Activities We are looking for motivated and talented students with..." wikitext text/x-wiki '''[http://camma.u-strasbg.fr/opportunities CAMMA group]''': Computational Analysis and Modeling of Medical Activities We are looking for motivated and talented students with knowledge in computer vision and/or machine learning who can contribute to the development of our computer vision system for the operating room. Please feel free to contact Nicolas Padoy if you are interested to do your master's thesis or an internship with us (funding of ~500Euros/month will be provided during 4 to 6 months). The successful candidates will be part of a dynamic and international research group hosted within IHU Strasbourg , at the University Hospital of Strasbourg. They will thereby have direct contact with clinicians, industrial partners and also have access to an exceptional research environment. The CAMMA project is supported by the laboratory of excellence CAMI, the IdEx Unistra and IHU Strasbourg. 0476ae0f450a29628ca9b8b53115d6f05e3ba040 68 67 2022-07-19T14:30:44Z Bernard.bayle 5 wikitext text/x-wiki '''[http://camma.u-strasbg.fr/opportunities CAMMA group]''': Computational Analysis and Modeling of Medical Activities<br> We are looking for motivated and talented students with knowledge in computer vision and/or machine learning who can contribute to the development of our computer vision system for the operating room. Please feel free to contact Nicolas Padoy if you are interested to do your master's thesis or an internship with us (funding of ~500Euros/month will be provided during 4 to 6 months). The successful candidates will be part of a dynamic and international research group hosted within IHU Strasbourg , at the University Hospital of Strasbourg. They will thereby have direct contact with clinicians, industrial partners and also have access to an exceptional research environment. The CAMMA project is supported by the laboratory of excellence CAMI, the IdEx Unistra and IHU Strasbourg. 3bb196aa6e31917cc0b196217fa4dc7dfd360232 0 17 69 2022-07-19T14:31:01Z Bernard.bayle 5 Created page with "No open position." wikitext text/x-wiki No open position. 649ef1d22a9c4ebd3fdb16ac912d0a26151dd64a 0 18 70 2022-07-19T14:31:12Z Bernard.bayle 5 Created page with "No open position." wikitext text/x-wiki No open position. 649ef1d22a9c4ebd3fdb16ac912d0a26151dd64a 0 19 71 2022-07-19T14:40:50Z Bernard.bayle 5 Created page with "'''RDH team head: Prof. [http://eavr.u-strasbg.fr/~bernard/ Bernard BAYLE]''' <br> IHU de Strasbourg, RDH/ICube <br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<..." wikitext text/x-wiki '''RDH team head: Prof. [http://eavr.u-strasbg.fr/~bernard/ Bernard BAYLE]''' <br> IHU de Strasbourg, RDH/ICube <br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tél. : +33 3 90 41 35 46<br> Courriel : bernard(dot)bayle(at)unistra(dot)fr<br> [https://orcid.org/0000-0003-4728-8593 ORCID]<br> <br> '''RDH team co-head: Prof. [https://www.insa-strasbourg.fr/en/pierre-renaud/ Pierre RENAUD]''', INSA Strasbourg<br> IHU de Strasbourg, RDH/ICube <br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tél. : +33 3 90 41 35 46<br> Courriel : bernard(dot)bayle(at)unistra(dot)fr<br> [https://orcid.org/0000-0002-2320-2807 ORCID]<br> <br> b186070f343ab7f8aa9b73ac23f71a1083d981b1 72 71 2022-07-19T14:41:26Z Bernard.bayle 5 wikitext text/x-wiki '''RDH team head: Prof. [http://eavr.u-strasbg.fr/~bernard/ Bernard BAYLE]''', University of Strasbourg <br> IHU de Strasbourg, RDH/ICube <br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tél. : +33 3 90 41 35 46<br> Courriel : bernard(dot)bayle(at)unistra(dot)fr<br> [https://orcid.org/0000-0003-4728-8593 ORCID]<br> <br> '''RDH team co-head: Prof. [https://www.insa-strasbourg.fr/en/pierre-renaud/ Pierre RENAUD]''', INSA Strasbourg<br> IHU de Strasbourg, RDH/ICube <br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tél. : +33 3 90 41 35 46<br> Courriel : bernard(dot)bayle(at)unistra(dot)fr<br> [https://orcid.org/0000-0002-2320-2807 ORCID]<br> <br> 28e320c236d2a6a81347920c3712fdcd8668f0b0 73 72 2022-07-19T14:43:04Z Bernard.bayle 5 wikitext text/x-wiki '''RDH team head: Prof. [http://eavr.u-strasbg.fr/~bernard/ Bernard BAYLE]''', University of Strasbourg <br> IHU de Strasbourg, RDH/ICube <br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel: +33 3 90 41 35 46<br> Email: bernard(dot)bayle(at)unistra(dot)fr<br> [https://orcid.org/0000-0003-4728-8593 ORCID]<br> <br> '''RDH team co-head: Prof. [https://www.insa-strasbourg.fr/en/pierre-renaud/ Pierre RENAUD]''', INSA Strasbourg<br> IHU de Strasbourg, RDH/ICube <br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel.: +33 3 90 41 35 47<br> Email: pierre.renaud (dot) insa-strasbourg.fr<br> [https://orcid.org/0000-0002-2320-2807 ORCID]<br> <br> 5c4d5a81fb545e70dd527aa405dac9d667a61bd4 74 73 2022-07-19T14:45:45Z Bernard.bayle 5 wikitext text/x-wiki {| |- | Example || '''RDH team head: Prof. [http://eavr.u-strasbg.fr/~bernard/ Bernard BAYLE]''', University of Strasbourg <br> IHU de Strasbourg, RDH/ICube <br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel: +33 3 90 41 35 46<br> Email: bernard(dot)bayle(at)unistra(dot)fr<br> [https://orcid.org/0000-0003-4728-8593 ORCID]<br> <br> |- | <gallery> Example.jpg </gallery> || '''RDH team co-head: Prof. [https://www.insa-strasbourg.fr/en/pierre-renaud/ Pierre RENAUD]''', INSA Strasbourg<br> IHU de Strasbourg, RDH/ICube <br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel.: +33 3 90 41 35 47<br> Email: pierre.renaud (dot) insa-strasbourg.fr<br> [https://orcid.org/0000-0002-2320-2807 ORCID]<br> <br> |} 005f16348351c97366142725d53153f844d3ab33 78 74 2022-07-19T15:05:11Z Bernard.bayle 5 wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || '''RDH team head: Prof. [http://eavr.u-strasbg.fr/~bernard/ Bernard BAYLE]''', University of Strasbourg <br> IHU de Strasbourg, RDH/ICube <br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel: +33 3 90 41 35 46<br> Email: bernard(dot)bayle(at)unistra(dot)fr<br> [https://orcid.org/0000-0003-4728-8593 ORCID]<br> <br> |- | [[File:Pierre renaud-473x600.jpg|120x180px]] || || '''RDH team co-head: Prof. [https://www.insa-strasbourg.fr/en/pierre-renaud/ Pierre RENAUD]''', INSA Strasbourg<br> IHU de Strasbourg, RDH/ICube <br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel.: +33 3 90 41 35 47<br> Email: pierre.renaud (dot) insa-strasbourg.fr<br> [https://orcid.org/0000-0002-2320-2807 ORCID]<br> |} f6b669198b90343c543dd1144c1b05ebb84602d4 79 78 2022-07-19T15:05:52Z Bernard.bayle 5 wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || '''RDH team head: Prof. [http://eavr.u-strasbg.fr/~bernard/ Bernard BAYLE]''', University of Strasbourg <br> IHU de Strasbourg, RDH/ICube <br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel: +33 3 90 41 35 46<br> Email: bernard(dot)bayle(at)unistra(dot)fr<br> [https://orcid.org/0000-0003-4728-8593 ORCID]<br> <br> |- | [[File:Pierre renaud-473x600.jpg|120x180px]] || || '''RDH team co-head: Prof. [https://www.insa-strasbourg.fr/en/pierre-renaud/ Pierre RENAUD]''', INSA Strasbourg<br> IHU de Strasbourg, RDH/ICube <br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel.: +33 3 90 41 35 47<br> Email: pierre(dot)renaud(at)insa-strasbourg(dot)fr<br> [https://orcid.org/0000-0002-2320-2807 ORCID]<br> |} 338796f8aef70424ab7528ac3843f8776700bd05 6 20 75 2022-07-19T14:46:52Z Bernard.bayle 5 wikitext text/x-wiki / 42099b4af021e53fd8fd4e056c2568d7c2e3ffa8 6 21 76 2022-07-19T14:57:55Z Bernard.bayle 5 wikitext text/x-wiki / 42099b4af021e53fd8fd4e056c2568d7c2e3ffa8 6 22 77 2022-07-19T15:04:47Z Bernard.bayle 5 wikitext text/x-wiki / 42099b4af021e53fd8fd4e056c2568d7c2e3ffa8 0 23 80 2022-07-19T15:10:16Z Bernard.bayle 5 Created page with "Bernard BAYLE ICube, Robotics, Data science and Healthcare technologies [[Contact]] Recherche Responsable de l'équipe..." wikitext text/x-wiki Bernard BAYLE ICube, Robotics, Data science and Healthcare technologies [[Contact]] Recherche Responsable de l'équipe Robotics, Data science and Heathcare technologies (anciennement Automatique, Vision et Robotique) du laboratoire ICube, je suis aussi coordinateur de l'Institut Thématique Interdisciplinaire HealthTech. La plupart de mes activités de recherche actuelles tournent autour des applications de conception et commande de robots, avec : comme thématique scientifique dominante l'interaction (retour d'effort, conception mécatronique, télémanipulation) comme champ applicatif les procédures médicales robotisées Publications Encadrements Publications ICube Thèses Enseignement Professeur à Télécom Physique Strasbourg, j responsable du parcours Diagnostics et Traitements Médicaux Innovants de la spécialité TI Santé, j'enseigne les cours suivants : 1A, TIS1A - Automatique Continue, Mécatronique 3A ISAV/AR - Robotique Mobile, Technologie des Asservissements TIS3A DTMI/HealthTech - Robotics, Medical Robotics, Haptics b5b1fcc57d1215af531f047d4536e7e290c09a48 81 80 2022-07-19T15:20:45Z Bernard.bayle 5 wikitext text/x-wiki { |- [[File:Photo bbayle.jpg|120x200px]] | ==== '''Bernard BAYLE''' ==== <br> ICube, Robotics, Data science and Healthcare technologies<br> [[Contact_bbayle]] |} === Research === I head the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] (formerly Automatic control, computer Vision and Robotics) of the ICube laboratory. I am also the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. Most of my current research activities revolve around robot design and control applications, with : interaction (force feedback, mechatronic design, telemanipulation) as an application field, robotized medical procedures Translated with www.DeepL.com/Translator (free version) Publications Encadrements Publications ICube Thèses ==== Teaching ==== Professor at Télécom Physique Strasbourg, I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link here. a437410da8fd2f798c8ecebcc42ea4759ce083b9 82 81 2022-07-19T15:28:01Z Bernard.bayle 5 wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || ''' ==== Bernard BAYLE ==== ''' <br> ICube, Robotics, Data science and Healthcare technologies<br> [[Contact_bbayle]] |} === Research === I head the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] (formerly Automatic control, computer Vision and Robotics) of the ICube laboratory. I am also the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. Most of my current research activities revolve around robot design and control applications, with : interaction (force feedback, mechatronic design, telemanipulation) as an application field, robotized medical procedures [https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu Publications] [[supervision_PhD_bbayle|PhD supervision]] ==== Teaching ==== Professor at Télécom Physique Strasbourg, I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[arch_education_bbayle|here]]. e582b15a1c9bac67cf177bfec4ed51804f5a77bb 87 82 2022-07-19T15:42:23Z Bernard.bayle 5 wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || @IHU de Strasbourg<br> Bernard BAYLE <br> IHU de Strasbourg, RDH/ICube<br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel. : +33 3 90 41 35 46 |} === Research === I head the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] (formerly Automatic control, computer Vision and Robotics) of the ICube laboratory. I am also the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. Most of my current research activities revolve around robot design and control applications, with : interaction (force feedback, mechatronic design, telemanipulation) as an application field, robotized medical procedures [https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu Publications] [[supervision_PhD_bbayle|PhD supervision]] ==== Teaching ==== Professor at Télécom Physique Strasbourg, I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[arch_education_bbayle|here]]. 1c2b416d8994b7d1e03a531ea9f43af3b7719ee5 88 87 2022-07-19T15:44:28Z Bernard.bayle 5 wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || @IHU de Strasbourg<br> Bernard BAYLE <br> IHU de Strasbourg, RDH/ICube<br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel. : +33 3 90 41 35 46 |} === Research === I head the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] (formerly Automatic control, computer Vision and Robotics) of the ICube laboratory. I am also the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. Most of my current research activities revolve around robot design and control applications, with : interaction (force feedback, mechatronic design, telemanipulation) as an application field, robotized medical procedures [https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu Publications] [[supervision_PhD_bbayle|PhD supervision]] ==== Teaching ==== Professor at [https://www.telecom-physique.fr/ Télécom Physique Strasbourg], I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[arch_education_bbayle|here]]. 658a8358630a4a4ba1eba32c802b1cb6ce0d338e 92 88 2022-07-19T15:59:36Z Bernard.bayle 5 wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || @IHU de Strasbourg<br> Bernard BAYLE <br> IHU de Strasbourg, RDH/ICube<br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel. : +33 3 90 41 35 46 |} === Research === I head the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] (formerly Automatic control, computer Vision and Robotics) of the ICube laboratory. I am also the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. Most of my current research activities revolve around robot design and control applications, with : interaction (force feedback, mechatronic design, telemanipulation) as an application field, robotized medical procedures [https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu Publications] [[supervision_PhD_bbayle|PhD supervision]] ==== Teaching ==== Professor at [https://www.telecom-physique.fr/ Télécom Physique Strasbourg], I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[Teaching_B._Bayle|here]]. b9d274a3a6bce8442b3de42318d8f649e9c01a76 95 92 2022-07-19T16:21:51Z Bernard.bayle 5 wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || @IHU de Strasbourg<br> Bernard BAYLE <br> IHU de Strasbourg, RDH/ICube<br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel. : +33 3 90 41 35 46 |} === Research === I head the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] (formerly Automatic control, computer Vision and Robotics) of the ICube laboratory. I am also the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. Most of my current research activities revolve around robot design and control applications, with : interaction (force feedback, mechatronic design, telemanipulation) as an application field, robotized medical procedures [https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu Publications] [[supervision_PhD_bbayle|PhD supervision]] ==== Teaching ==== Professor at [https://www.telecom-physique.fr/ Télécom Physique Strasbourg], I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[Teaching_B._Bayle|'''here''']]. 4b4244d98496b45762d041a0786608ffe2cee58a 96 95 2022-07-19T16:24:48Z Bernard.bayle 5 wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || @IHU de Strasbourg<br> Bernard BAYLE <br> IHU de Strasbourg, RDH/ICube<br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel. : +33 3 90 41 35 46 |} === Research === I head the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] (formerly Automatic control, computer Vision and Robotics) of the ICube laboratory. I am also the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. Most of my current research activities is dedicated to robot design and control involving physical human-robot interactions, with robot assistance to medical interventions as the main application field. [https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu Publications] <br> [[supervision_PhD_bbayle|PhD supervision]] ==== Teaching ==== Professor at [https://www.telecom-physique.fr/ Télécom Physique Strasbourg], I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[Teaching_B._Bayle|'''here''']]. 5b46d7fa26c41ee39bd4d0a5154f7b7a54c1213c 98 96 2022-07-19T16:25:44Z Bernard.bayle 5 /* Research */ wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || @IHU de Strasbourg<br> Bernard BAYLE <br> IHU de Strasbourg, RDH/ICube<br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel. : +33 3 90 41 35 46 |} === Research === I head the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] (formerly Automatic control, computer Vision and Robotics) of the ICube laboratory. I am also the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. Most of my current research activities is dedicated to robot design and control involving physical human-robot interactions, with robot assistance to medical interventions as the main application field. [https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu Publications] <br> [[PhD_supervisions_B._Bayle|PhD supervision]] ==== Teaching ==== Professor at [https://www.telecom-physique.fr/ Télécom Physique Strasbourg], I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[Teaching_B._Bayle|'''here''']]. 209cddba5353f2a0bfa6cfa67ee1904586e8cd64 0 24 83 2022-07-19T15:33:43Z Bernard.bayle 5 Created page with "Fadi Alyousef Almasalmah Sécurité des gestes chirurgicaux télé-opérés à retour d'effort 2024 (http://theses.fr/s301883)<br> Financement : bourse région Grand Est et L..." wikitext text/x-wiki Fadi Alyousef Almasalmah Sécurité des gestes chirurgicaux télé-opérés à retour d'effort 2024 (http://theses.fr/s301883)<br> Financement : bourse région Grand Est et Labex CAMI<br> Co-encadrant : Hassan Omran, Chao Liu (LIRMM)<br> Directeurs : Bernard Bayle, Florent Nageotte<br> Guillaume Lods Planning and control algorithms for continuum robots 2024 (https://www.theses.fr/s298750)<br> Financement : ANR JCJC MACROS (Benoit Rosa, Robots continus multi-actionnés pour la chirugie mini-invasive)<br> Co-encadrant : Benoit Rosa<br> Directeurs : Bernard Bayle, Florent Nageotte<br> Thibault Poignonec Commande partagée pour la télémanipulation en chirurgie minimalement invasive 2022 (http://www.theses.fr/s270395)<br> Financement : bourse région Grand Est et Labex CAMI<br> Co-encadrants : Nabil Zemitti (LIRMM)<br> Directeurs : Bernard Bayle, Florent Nageotte<br> Paul Baksic Assistance robotique aux procédures percutanées chirurgicales dans les systèmes déformables 2024 (http://theses.fr/s270293)<br> Financement : bourse région Grand Est et Labex CAMI<br> Co-encadrants : Hadrien Courtecuisse<br> Directeur : Bernard Bayle<br> Julien Garnon Assistance à l'injection de larges volumes du ciment 2020 (http://theses.fr/s212133)<br> La cimentoplastie extra-rachidienne est une intervention percutanée guidée par l’image qui consiste à injecter du ciment acrylique, du polymethylmétacrylate (PMMA) le plus souvent, au sein d’un os pathologique. Le but est non seulement de traiter la douleur mais aussi de renforcer la tenue mécanique de l’os notamment au niveau du bassin. Dans cet optique, le volume de ciment et la technique d’injection pourraient être des facteur prédictifs de succès du geste. Le but de ce travail est de faire un état de l’art sur la cimentoplastie extra-rachidienne, le PMMA et sur la biomécanique du bassin afin d’identifier les axes potentiels de développement de la technique. Une étude des pratiques cliniques est également réalisée. S’en suit la présentation des résultats de travaux précliniques sur l’influence du volume de ciment et de la technique d’injection d’un volume de PMMA supérieur à 10 ml. Puis 3 axes d’assistance à l’injection d’un volume de plus de 10 ml sont présentés et évalués.<br> Financement propre (Praticien Hospitalier)<br> Co-encadrants : Laurence Meylheuc<br> Directeur : Bernard Bayle<br> Maciej Bednarczyk Commande avancée des robots collaboratifs en considérant un modèle dynamique de l'interaction homme-robot 2020 (http://theses.fr/s189327) En raison de l'intérêt croissant pour l'utilisation de systèmes robotiques dans un espace de travail partagé avec des opérateurs humains, le développement de robots collaboratifs met l'interaction Homme-robot au centre des préoccupations des roboticiens. Pour cette raison, le développement de nouveaux outils de contrôle permettant la gestion des interactions est devenu un sujet de recherche important. Ainsi, la conception de solutions améliorant la dynamique d'interaction et garantissant l'intégrité de l’opérateur est d’un intérêt particulier. Dans cette thèse, plusieurs outils de contrôle pour la robotique collaborative sont proposés. Les problématiques abordées visent notamment à garantir simultanément la compliance des robots tout en gérant des contraintes, ou à modifier la dynamique d'interaction de manière sûre. L’utilisation de bio-signaux afin d’améliorer la collaboration Homme-robot est également étudiée, pour évaluer l'intention de l’utilisateur. Cet ensemble de problématiques conduit à la conception de contrôleurs dédiés. Deux preuves de concept d’applications médicales utilisant les outils proposés sont développées pour l'insertion autonome d'aiguilles en radiologie interventionnelle et pour la rééducation bimanuelle.<br> Financement : allocation de recherche<br> Co-encadrants : Hassan Omran<br> Directeur : Bernard Bayle<br> François Schmitt Perception et restitution de la raideur des tissus dans les procédures médicales et chirurgicales minimalement invasives 2019 (http://theses.fr/2019STRAD033)<br> Le contexte de cette thèse est le développement d’outils pour améliorer la perception de la raideur des tissus dans le cadre de la chirurgie laparoscopique assistée par comanipulation. Lors de procédures manuelles, cette perception est distordue, notamment par l’effet levier, conséquence des contraintes cinématiques imposées par le trocart. Cette thèse s’articule ainsi autour de deux parties. Dans une première partie, nous étudions l’effet levier et les distorsions qu’il produit dans le cadre d’un outil comanipulé. Nous y introduisons ainsi un modèle permettant l’analyse en raideur d’un outil comanipulé par un chirurgien et un robot. Sur cette base, nous développons une stratégie de compensation pour laquelle nous avons mis en place une expérience de validation. Dans une deuxième partie, nous abordons la conception d’une nouvelle architecture à cinématique RCM, intégrant structure et actionnement pour des applications de robotique légère. Nous présentons notamment une démarche de conception de systèmes origamis articulés produits à l’aide de procédés de fabrication multi-matériaux.<br> Financement : bourse région Alsace et Labex CAMI<br> co-encadrants : Laurent Barbé, Olivier Piccin, G. Morel (ISIR)<br> Directeur : Bernard Bayle<br> Nicole Lepoutre Caractérisation et identification de l'injection de ciment orthopédique pour la vertébroplastie télé-opérée en radiologie interventionnelle 2016 (http://theses.fr/2016STRAD049)<br> La vertébroplastie percutanée est une intervention non chirurgicale et peu invasive qui consiste à injecter, sous contrôle radioscopique, un ciment orthopédique dans le corps vertébral. Malgré son efficacité, celle-ci présente quelques inconvénients non négligeables. Le premier est dû au ciment orthopédique qui est injecté pendant sa polymérisation. Au début, sa faible viscosité augmente le risque de fuite hors de la vertèbre traitée, ce qui peut provoquer de lourdes complications. Ensuite, la variation rapide de viscosité limite la durée. Le second désagrément concerne le contrôle par fluoroscopie à rayons X qui expose le praticien de manière prolongée. Ainsi, l’enjeu de ce projet est de proposer aux radiologues un nouveau système d’injection à distance avec retour d’effort sur lequel la viscosité du ciment est régulée pendant l’injection. Le développement de ces aspects permettra la radioprotection des praticiens, une réduction des risques de fuite et une durée d’injection allongée.<br> Financement : allocation de recherche unistra (ED MS2I)<br> Co-encadrantes : Laurence Meylheuc, Iuliana Bara<br> Directeur : Bernard Bayle<br> Nitish Kumar Design and development of devices for robotized needle insertion procedures 2014 (http://www.theses.fr/2014STRAD024)<br> Ces travaux de thèse apportent plusieurs contributions à la conception de dispositifs d'assistance robotisés pour la réalisation de procédures d'insertion d'aiguille sous imageur à rayons X. Partant de la tâche de positionnement et d'orientation d'une aiguille, plusieurs architectures mécaniques inédites à quatre degrés de liberté ont été proposées. Un algorithme de synthèse dimensionnelle a été conçu pour calculer les paramètres structuraux de ces mécanismes en étudiant leurs singularités, tout en tenant compte des contraintes antagonistes de compacité du système, de capacité d'actionnement et de taille d'espace de travail. Une décomposition modulaire du dispositif d'assistance a permis de proposer des solutions pour un outil dédié à l'insertion d'aiguille avec retour d'effort. Cet outil comporte un dispositif d'insertion, un système de préhension d'aiguille et un capteur d'effort spécifique pour le retour d'effort.<br> Financement : Carnot Santé Numérique et IHU Strasbourg<br> Co-encadrant : Olivier Piccin<br> Directeur : Bernard Bayle<br> Laure Esteveny Vers un actionnement sûr pour la radiologie interventionnelle robotisée 2014 (http://www.theses.fr/2014STRAD015)<br> En radiologie interventionnelle, l’assistance robotisée permet de limiter l’exposition du praticien aux rayons X et d’apporter plus de précision pour effectuer des opérations complexes. La présence de robots dans un environnement humain pose alors la question de la sécurité du patient et de l’équipe médicale, que ce soit lors d’interactions ou de manipulations. Dans cette thèse, nous nous intéressons dans un premier temps aux problématiques de sûreté. Une structure d’actionnement intrinsèquement sûre est proposée. Le prototype réalisé permet d’effectuer des tâches de positionnement en mode automatique. Parallèlement, une stratégie de guidage basée sur une approche passive est proposée. Un système à raideur variable permet d’imposer un effort résistif variable à l’utilisateur en vue de contraindre son geste. Dans une deuxième partie, nous étudions la possibilité d’intégrer de tels systèmes sur un dispositif à plusieurs degrés de liberté, répondant au problème de placement d’aiguille.<br> Financement : bourse région Alsace<br> Co-encadrant : Laurent Barbé<br> Directeur : Bernard Bayle<br> Salih Abdelaziz Développement d'un système robotique pour la radiologie interventionnelle sous IRM 2012 (http://www.theses.fr/2012STRAD034)<br> La réalisation de gestes percutanés dans l’IRM ouvre la voie à des pratiques médicales prometteuses. En revanche, l’utilisation de l’IRM reste à ce jour limitée, et ce malgré l’intérêt en terme de qualité d’image. Cela est dû principalement à l’étroitesse du tunnel et à la complexité des gestes réalisés. Pour rendre accessibles de telles pratiques, une assistance robotique semble très pertinente. Pour le concepteur, la réalisation d’un système robotisé compatible IRM n’est pas une tâche facile, étant donné l’espace disponible et la présence d’un champ magnétique intense. C'est dans ce contexte que nous avons développé un assistant robotique, MRGuide, dédié aux traitements du cancer de la prostate dans l’IRM. Il s'agit d'un manipulateur à câbles avec un actionnement déporté. Dans ce travail, de nombreuses contributions menant à la réalisation de ce prototypes ont présentées. Parmi celles‐ci, une instrumentation originale pour estimer la tension des câbles est proposée. Cette instrumentation est basée sur l’utilisation d’une structure en treillis, de mécanismes compliants et de capteurs de déplacement à technologie optique pour assurer la compatibilité avec le scanner. Pour optimiser la géométrie du robot et faciliter son intégration dans l'IRM, une démarche de conception des robots à câbles instrumentés est développée. Cette démarche est basée sur une approche par intervalles. D'autres contributions relatives à la caractérisation de l'espace de travail des robots à câbles instrumentés, à l'étalonnage des capteurs de tension et au développement d'une stratégie de commande adaptée au dispositif sont décrites.<br> Financement : allocation de recherche unistra (ED MS2I) <br> Co-encadrant : Pierre Renaud<br> Directeur : Michel de Mathelin<br> Mathieu Joinie-Maurin Téléchirurgie robotisée au contact d'organes mobiles 2012 (http://www.theses.fr/2012STRAD017)<br> Dans les procédures médicales et chirurgicales robotisées un des problèmes principaux vient des mouvements physiologiques du patient et de ses organes. En particulier, les mouvements liés à la respiration peuvent avoir une grande amplitude et donc perturber considérablement la réalisation de gestes précis et sûrs. Pour un robot interagissant avec un patient, il est donc naturel d'envisager une compensation de ces mouvements, notamment respiratoires. Dans l'état actuel des connaissances, différentes expériences de compensation active de mouvement ont été proposées et réalisées avec succès. Dans l'équipe AVR, nous avons démontré la faisabilité d'une compensation active des mouvements physiologiques par asservissement visuel, dans le cas des mouvements respiratoires, puis de mouvements cardiaques.<br> La superposition d'un geste médical exécuté par un robot à cette compensation active a été proposée récemment. Les travaux existant dans le domaine restent pourtant très limités. En particulier l'interaction robot-patient avec prise en compte des efforts demeure un sujet ouvert à ce jour. Différents problèmes se posent dans le cadre d'une telle procédure : i) la mesure d'effort et la séparation des composantes de l'effort liées à la respiration de celles liées à l'interaction outil-organe ; ii) la définition d'une loi de commande au contact combinant les informations obtenues à l'aide d'une caméra avec celles obtenues avec le capteur d'effort ; iii) l'implantation d'une telle loi de commande dans un schéma de téléopération avec retour d'effort. La résolution de ce problème permettrait au praticien d'effectuer un geste chirurgical en percevant les interactions avec les organes, tout en observant sur son écran une scène quasi immobile, et donc dans laquelle il est plus facile d'accomplir les gestes.<br> Financement : Bourse doctorant CNRS (ex BDI) et région Alsace<br> Directeur : Jacques Gangloff<br> Ahmed Ayadi Injection automatique dans le petit animal guidée par vision 2008 (http://www.theses.fr/2008STR13065)<br> L’objectif de ce travail de thèse est la conception et le développement d’un système d’insertion robotisée d’aiguille pour le petit animal. Le dispositif proposé se compose d’un scanner à rayons X, d’un robot et d’un système de vision. Dans le protocole proposé, l’animal attaché à son lit, est passé au scanner afin d’acquérir son modèle CT. Le biologiste définit alors l’étape d’insertion en choisissant deux points dans les données CT : le point d’entrée au niveau de la peau et la cible à atteindre. Ensuite, l’animal et son lit sont déplacés hors du scanner et placés devant le robot. Ce protocole nécessite deux recalages. Le premier permet d’identifier la position de l’animal par rapport au robot suite à son déplacement. Ainsi, les deux points choisis par le biologiste dans les images scanner peuvent être définis dans le repère du robot. La solution proposée est basée sur la projection de lumière structurée sur une cible de recalage. Cette dernière est identifiée également dans les images scanner. Le deuxième recalage consiste à positionner et orienter d’une manière automatique et précise l’aiguille par rapport à la cible. Les deux méthodes proposées sont indépendantes du modèle d’aiguille et de sa fixation au robot. La première méthode proposée est basée sur la création d’une mire virtuelle obtenue suite au déplacement du robot avec un pas fixe et suite à l’extraction de l’aiguille dans l’image caméra. Cette solution conduit à une procédure longue, dont la précision n’a pas été jugée suffisante. La seconde approche proposée est basée sur l’asservissement visuel 2D stéréoscopique. Les paramètres visuels sont extraits directement des images de l’aiguille et tiennent compte de leur redondance. Les premiers tests effectués montrent une précision inférieure à 1 mm et 0,05 rad pour le positionnement de l’aiguille.<br> Financement : Bourse région Alsace + IRCAD<br> Directeurs : Pierre Graebling, Jacques Gangloff<br> Cyrille Lebossé Stimulation magnétique transcrânienne robotisée guidée par imagerie médicale 2008 (http://www.theses.fr/2008STR13046)<br> Ce projet a pour but de concevoir un système robotique dédié à la Stimulation Magnétique Transcrânienne (SMT) guidée par imagerie. La SMT est une technique non-invasive qui se développe de plus en plus pour le traitement de pathologies importantes comme la dépression nerveuse ou les troubles obsessionnels compulsifs. Ce traitement nécessite le déplacement et l’orientation de manière précise d’une sonde électromagnétique à la surface du crâne, afin de produire l’excitation requise des sillons corticaux cibles. Les régions cibles et la trajectoire que devra suivre la sonde sont déterminées au préalable sur une reconstruction 3D du cerveau à partir d’images IRM. A l’heure actuelle, le déplacement de la sonde est effectué manuellement par le médecin grâce à l’utilisation d’un système de neuro-navigation, ce qui rend très difficile la mise en place d’une évaluation clinique rigoureuse des bienfaits de la SMT. Ce projet vise ainsi à réaliser un système robotique, ainsi que sa commande, capable de remplacer le neurologue durant une séance de SMT, tout en garantissant la sécurité et la précision requises par un traitement médical automatique de ce type.<br> Financement : allocation de recherche unistra (ED MS2I)<br> Co-encadrant : Pierre Renaud<br> Directeur : Michel de Mathelin<br> Laurent Barbé Téléopération avec retour d'efforts pour les interventions percutanées 2007 (http://www.theses.fr/2007STR13082)<br> La radiologie interventionnelle est une technique chirurgicale minimallement invasive qui permet d'atteindre des organes à traiter avec des aiguilles, guidées à partir d'images scanner. Bien que cette technique offre de nombreux avantages, l'exposition aux rayons X qu'elle occasionne est nocive pour le radiologue. Pour résoudre ce problème, nousavons développé un système de téléopération avec retour d'efforts. Son cahier des charges a été établi à partir d'expériences in-vivo, qui ont notamment conduit à la modélisation des forces lors d'une insertion. Le système développé répond aux contraintes liées à l'utilisation des rayons X et aux besoins des praticiens. Une étude approfondies a permis de déterminer la commande bilatérale la mieux adaptée à l'application. Pour améliorer la perception des efforts, deux approches ont été étudiées. La première est une synthèse automatique de la commande en effort côté maître. La seconde vise à accroître la sensation de passage entre les tissus.<br> Financement : BDI/région Alsace<br> Directeur : Michel de Mathelin<br> Benjamin Maurin Conception et réalisation d’un robot d’insertion d’aiguille pour les procédures percutanées sous imageur scanner 2005 (http://www.theses.fr/2005STR13211)<br> Les interventions radiologiques percutanées consistent en l'insertion d'aiguilles dans le corps d'un patient afin d'atteindre des cibles anatomiques particulières telles que des tumeurs. Ces procédures, nécessitant une grande précision, obligent le radiologue à surveiller l'insertion des aiguilles en utilisant des dispositifs d'imagerie temps-réel tels que les scanners tomographiques à rayons X. Actuellement, ces procédures sont coûteuses en temps, ont une précision de l'ordre du centimètres, et surtout exposent le radiologue à des doses considérables de rayons X. La robotique permet de remplacer le bras du radiologue dans la phase d'insertion d'une aiguille sous contrôle scanner. La robotisation a l'avantage de protéger le praticien, tout en offrant des possibilités supplémentaires de navigation, de guidage, et donc de précision. Nous avons construit un robot compatible mécaniquement à ce type d'opération. La commande du robot est éffectuée par un PC sous en environnement temps-réel. Le robot utilise des moteurs piézo-électriques, et une planification de trajectoire avec évitemment des auto-collisions. La boucle de retour se fait principalement par le chirurgien, selon une structure 'Maître-esclave'. Pour assurer un positionnement fiable par asservissement en position, nous estimons la position du robot dans le repère de l'image afin d'obtenir des consignes en position et en orientation de l'aiguille. Cette estimation de pose 3D utilise le principe de la stéréotaxie à des marqueurs tridimensionnels.<br> Financement : Bourse région Alsace<br> Directeur : Michel de Mathelin<br> a8bddc6bf2aa166ea8fb72b2106123d868930fdb 84 83 2022-07-19T15:35:39Z Bernard.bayle 5 wikitext text/x-wiki '''Fadi Alyousef Almasalmah Sécurité des gestes chirurgicaux télé-opérés à retour d'effort 2024 (http://theses.fr/s301883)<br> '''Financement : bourse région Grand Est et Labex CAMI<br> Co-encadrant : Hassan Omran, Chao Liu (LIRMM)<br> Directeurs : Bernard Bayle, Florent Nageotte<br> '''Guillaume Lods Planning and control algorithms for continuum robots 2024 (https://www.theses.fr/s298750)<br> Financement : ANR JCJC MACROS (Benoit Rosa, Robots continus multi-actionnés pour la chirugie mini-invasive)<br> Co-encadrant : Benoit Rosa<br> Directeurs : Bernard Bayle, Florent Nageotte<br> '''Thibault Poignonec Commande partagée pour la télémanipulation en chirurgie minimalement invasive 2022 (http://www.theses.fr/s270395)<br> Financement : bourse région Grand Est et Labex CAMI<br> Co-encadrants : Nabil Zemitti (LIRMM)<br> Directeurs : Bernard Bayle, Florent Nageotte<br> '''Paul Baksic Assistance robotique aux procédures percutanées chirurgicales dans les systèmes déformables 2024 (http://theses.fr/s270293)<br> Financement : bourse région Grand Est et Labex CAMI<br> Co-encadrants : Hadrien Courtecuisse<br> Directeur : Bernard Bayle<br> '''Julien Garnon Assistance à l'injection de larges volumes du ciment 2020 (http://theses.fr/s212133)<br> La cimentoplastie extra-rachidienne est une intervention percutanée guidée par l’image qui consiste à injecter du ciment acrylique, du polymethylmétacrylate (PMMA) le plus souvent, au sein d’un os pathologique. Le but est non seulement de traiter la douleur mais aussi de renforcer la tenue mécanique de l’os notamment au niveau du bassin. Dans cet optique, le volume de ciment et la technique d’injection pourraient être des facteur prédictifs de succès du geste. Le but de ce travail est de faire un état de l’art sur la cimentoplastie extra-rachidienne, le PMMA et sur la biomécanique du bassin afin d’identifier les axes potentiels de développement de la technique. Une étude des pratiques cliniques est également réalisée. S’en suit la présentation des résultats de travaux précliniques sur l’influence du volume de ciment et de la technique d’injection d’un volume de PMMA supérieur à 10 ml. Puis 3 axes d’assistance à l’injection d’un volume de plus de 10 ml sont présentés et évalués.<br> Financement propre (Praticien Hospitalier)<br> Co-encadrants : Laurence Meylheuc<br> Directeur : Bernard Bayle<br> '''Maciej Bednarczyk Commande avancée des robots collaboratifs en considérant un modèle dynamique de l'interaction homme-robot 2020 (http://theses.fr/s189327) En raison de l'intérêt croissant pour l'utilisation de systèmes robotiques dans un espace de travail partagé avec des opérateurs humains, le développement de robots collaboratifs met l'interaction Homme-robot au centre des préoccupations des roboticiens. Pour cette raison, le développement de nouveaux outils de contrôle permettant la gestion des interactions est devenu un sujet de recherche important. Ainsi, la conception de solutions améliorant la dynamique d'interaction et garantissant l'intégrité de l’opérateur est d’un intérêt particulier. Dans cette thèse, plusieurs outils de contrôle pour la robotique collaborative sont proposés. Les problématiques abordées visent notamment à garantir simultanément la compliance des robots tout en gérant des contraintes, ou à modifier la dynamique d'interaction de manière sûre. L’utilisation de bio-signaux afin d’améliorer la collaboration Homme-robot est également étudiée, pour évaluer l'intention de l’utilisateur. Cet ensemble de problématiques conduit à la conception de contrôleurs dédiés. Deux preuves de concept d’applications médicales utilisant les outils proposés sont développées pour l'insertion autonome d'aiguilles en radiologie interventionnelle et pour la rééducation bimanuelle.<br> Financement : allocation de recherche<br> Co-encadrants : Hassan Omran<br> Directeur : Bernard Bayle<br> '''François Schmitt Perception et restitution de la raideur des tissus dans les procédures médicales et chirurgicales minimalement invasives 2019 (http://theses.fr/2019STRAD033)<br> Le contexte de cette thèse est le développement d’outils pour améliorer la perception de la raideur des tissus dans le cadre de la chirurgie laparoscopique assistée par comanipulation. Lors de procédures manuelles, cette perception est distordue, notamment par l’effet levier, conséquence des contraintes cinématiques imposées par le trocart. Cette thèse s’articule ainsi autour de deux parties. Dans une première partie, nous étudions l’effet levier et les distorsions qu’il produit dans le cadre d’un outil comanipulé. Nous y introduisons ainsi un modèle permettant l’analyse en raideur d’un outil comanipulé par un chirurgien et un robot. Sur cette base, nous développons une stratégie de compensation pour laquelle nous avons mis en place une expérience de validation. Dans une deuxième partie, nous abordons la conception d’une nouvelle architecture à cinématique RCM, intégrant structure et actionnement pour des applications de robotique légère. Nous présentons notamment une démarche de conception de systèmes origamis articulés produits à l’aide de procédés de fabrication multi-matériaux.<br> Financement : bourse région Alsace et Labex CAMI<br> co-encadrants : Laurent Barbé, Olivier Piccin, G. Morel (ISIR)<br> Directeur : Bernard Bayle<br> '''Nicole Lepoutre Caractérisation et identification de l'injection de ciment orthopédique pour la vertébroplastie télé-opérée en radiologie interventionnelle 2016 (http://theses.fr/2016STRAD049)<br> La vertébroplastie percutanée est une intervention non chirurgicale et peu invasive qui consiste à injecter, sous contrôle radioscopique, un ciment orthopédique dans le corps vertébral. Malgré son efficacité, celle-ci présente quelques inconvénients non négligeables. Le premier est dû au ciment orthopédique qui est injecté pendant sa polymérisation. Au début, sa faible viscosité augmente le risque de fuite hors de la vertèbre traitée, ce qui peut provoquer de lourdes complications. Ensuite, la variation rapide de viscosité limite la durée. Le second désagrément concerne le contrôle par fluoroscopie à rayons X qui expose le praticien de manière prolongée. Ainsi, l’enjeu de ce projet est de proposer aux radiologues un nouveau système d’injection à distance avec retour d’effort sur lequel la viscosité du ciment est régulée pendant l’injection. Le développement de ces aspects permettra la radioprotection des praticiens, une réduction des risques de fuite et une durée d’injection allongée.<br> Financement : allocation de recherche unistra (ED MS2I)<br> Co-encadrantes : Laurence Meylheuc, Iuliana Bara<br> Directeur : Bernard Bayle<br> '''Nitish Kumar Design and development of devices for robotized needle insertion procedures 2014 (http://www.theses.fr/2014STRAD024)<br> Ces travaux de thèse apportent plusieurs contributions à la conception de dispositifs d'assistance robotisés pour la réalisation de procédures d'insertion d'aiguille sous imageur à rayons X. Partant de la tâche de positionnement et d'orientation d'une aiguille, plusieurs architectures mécaniques inédites à quatre degrés de liberté ont été proposées. Un algorithme de synthèse dimensionnelle a été conçu pour calculer les paramètres structuraux de ces mécanismes en étudiant leurs singularités, tout en tenant compte des contraintes antagonistes de compacité du système, de capacité d'actionnement et de taille d'espace de travail. Une décomposition modulaire du dispositif d'assistance a permis de proposer des solutions pour un outil dédié à l'insertion d'aiguille avec retour d'effort. Cet outil comporte un dispositif d'insertion, un système de préhension d'aiguille et un capteur d'effort spécifique pour le retour d'effort.<br> Financement : Carnot Santé Numérique et IHU Strasbourg<br> Co-encadrant : Olivier Piccin<br> Directeur : Bernard Bayle<br> '''Laure Esteveny Vers un actionnement sûr pour la radiologie interventionnelle robotisée 2014 (http://www.theses.fr/2014STRAD015)<br> En radiologie interventionnelle, l’assistance robotisée permet de limiter l’exposition du praticien aux rayons X et d’apporter plus de précision pour effectuer des opérations complexes. La présence de robots dans un environnement humain pose alors la question de la sécurité du patient et de l’équipe médicale, que ce soit lors d’interactions ou de manipulations. Dans cette thèse, nous nous intéressons dans un premier temps aux problématiques de sûreté. Une structure d’actionnement intrinsèquement sûre est proposée. Le prototype réalisé permet d’effectuer des tâches de positionnement en mode automatique. Parallèlement, une stratégie de guidage basée sur une approche passive est proposée. Un système à raideur variable permet d’imposer un effort résistif variable à l’utilisateur en vue de contraindre son geste. Dans une deuxième partie, nous étudions la possibilité d’intégrer de tels systèmes sur un dispositif à plusieurs degrés de liberté, répondant au problème de placement d’aiguille.<br> Financement : bourse région Alsace<br> Co-encadrant : Laurent Barbé<br> Directeur : Bernard Bayle<br> '''Salih Abdelaziz Développement d'un système robotique pour la radiologie interventionnelle sous IRM 2012 (http://www.theses.fr/2012STRAD034)<br> La réalisation de gestes percutanés dans l’IRM ouvre la voie à des pratiques médicales prometteuses. En revanche, l’utilisation de l’IRM reste à ce jour limitée, et ce malgré l’intérêt en terme de qualité d’image. Cela est dû principalement à l’étroitesse du tunnel et à la complexité des gestes réalisés. Pour rendre accessibles de telles pratiques, une assistance robotique semble très pertinente. Pour le concepteur, la réalisation d’un système robotisé compatible IRM n’est pas une tâche facile, étant donné l’espace disponible et la présence d’un champ magnétique intense. C'est dans ce contexte que nous avons développé un assistant robotique, MRGuide, dédié aux traitements du cancer de la prostate dans l’IRM. Il s'agit d'un manipulateur à câbles avec un actionnement déporté. Dans ce travail, de nombreuses contributions menant à la réalisation de ce prototypes ont présentées. Parmi celles‐ci, une instrumentation originale pour estimer la tension des câbles est proposée. Cette instrumentation est basée sur l’utilisation d’une structure en treillis, de mécanismes compliants et de capteurs de déplacement à technologie optique pour assurer la compatibilité avec le scanner. Pour optimiser la géométrie du robot et faciliter son intégration dans l'IRM, une démarche de conception des robots à câbles instrumentés est développée. Cette démarche est basée sur une approche par intervalles. D'autres contributions relatives à la caractérisation de l'espace de travail des robots à câbles instrumentés, à l'étalonnage des capteurs de tension et au développement d'une stratégie de commande adaptée au dispositif sont décrites.<br> Financement : allocation de recherche unistra (ED MS2I) <br> Co-encadrant : Pierre Renaud<br> Directeur : Michel de Mathelin<br> '''Mathieu Joinie-Maurin Téléchirurgie robotisée au contact d'organes mobiles 2012 (http://www.theses.fr/2012STRAD017)<br> Dans les procédures médicales et chirurgicales robotisées un des problèmes principaux vient des mouvements physiologiques du patient et de ses organes. En particulier, les mouvements liés à la respiration peuvent avoir une grande amplitude et donc perturber considérablement la réalisation de gestes précis et sûrs. Pour un robot interagissant avec un patient, il est donc naturel d'envisager une compensation de ces mouvements, notamment respiratoires. Dans l'état actuel des connaissances, différentes expériences de compensation active de mouvement ont été proposées et réalisées avec succès. Dans l'équipe AVR, nous avons démontré la faisabilité d'une compensation active des mouvements physiologiques par asservissement visuel, dans le cas des mouvements respiratoires, puis de mouvements cardiaques.<br> La superposition d'un geste médical exécuté par un robot à cette compensation active a été proposée récemment. Les travaux existant dans le domaine restent pourtant très limités. En particulier l'interaction robot-patient avec prise en compte des efforts demeure un sujet ouvert à ce jour. Différents problèmes se posent dans le cadre d'une telle procédure : i) la mesure d'effort et la séparation des composantes de l'effort liées à la respiration de celles liées à l'interaction outil-organe ; ii) la définition d'une loi de commande au contact combinant les informations obtenues à l'aide d'une caméra avec celles obtenues avec le capteur d'effort ; iii) l'implantation d'une telle loi de commande dans un schéma de téléopération avec retour d'effort. La résolution de ce problème permettrait au praticien d'effectuer un geste chirurgical en percevant les interactions avec les organes, tout en observant sur son écran une scène quasi immobile, et donc dans laquelle il est plus facile d'accomplir les gestes.<br> Financement : Bourse doctorant CNRS (ex BDI) et région Alsace<br> Directeur : Jacques Gangloff<br> '''Ahmed Ayadi Injection automatique dans le petit animal guidée par vision 2008 (http://www.theses.fr/2008STR13065)<br> L’objectif de ce travail de thèse est la conception et le développement d’un système d’insertion robotisée d’aiguille pour le petit animal. Le dispositif proposé se compose d’un scanner à rayons X, d’un robot et d’un système de vision. Dans le protocole proposé, l’animal attaché à son lit, est passé au scanner afin d’acquérir son modèle CT. Le biologiste définit alors l’étape d’insertion en choisissant deux points dans les données CT : le point d’entrée au niveau de la peau et la cible à atteindre. Ensuite, l’animal et son lit sont déplacés hors du scanner et placés devant le robot. Ce protocole nécessite deux recalages. Le premier permet d’identifier la position de l’animal par rapport au robot suite à son déplacement. Ainsi, les deux points choisis par le biologiste dans les images scanner peuvent être définis dans le repère du robot. La solution proposée est basée sur la projection de lumière structurée sur une cible de recalage. Cette dernière est identifiée également dans les images scanner. Le deuxième recalage consiste à positionner et orienter d’une manière automatique et précise l’aiguille par rapport à la cible. Les deux méthodes proposées sont indépendantes du modèle d’aiguille et de sa fixation au robot. La première méthode proposée est basée sur la création d’une mire virtuelle obtenue suite au déplacement du robot avec un pas fixe et suite à l’extraction de l’aiguille dans l’image caméra. Cette solution conduit à une procédure longue, dont la précision n’a pas été jugée suffisante. La seconde approche proposée est basée sur l’asservissement visuel 2D stéréoscopique. Les paramètres visuels sont extraits directement des images de l’aiguille et tiennent compte de leur redondance. Les premiers tests effectués montrent une précision inférieure à 1 mm et 0,05 rad pour le positionnement de l’aiguille.<br> Financement : Bourse région Alsace + IRCAD<br> Directeurs : Pierre Graebling, Jacques Gangloff<br> '''Cyrille Lebossé Stimulation magnétique transcrânienne robotisée guidée par imagerie médicale 2008 (http://www.theses.fr/2008STR13046)<br> Ce projet a pour but de concevoir un système robotique dédié à la Stimulation Magnétique Transcrânienne (SMT) guidée par imagerie. La SMT est une technique non-invasive qui se développe de plus en plus pour le traitement de pathologies importantes comme la dépression nerveuse ou les troubles obsessionnels compulsifs. Ce traitement nécessite le déplacement et l’orientation de manière précise d’une sonde électromagnétique à la surface du crâne, afin de produire l’excitation requise des sillons corticaux cibles. Les régions cibles et la trajectoire que devra suivre la sonde sont déterminées au préalable sur une reconstruction 3D du cerveau à partir d’images IRM. A l’heure actuelle, le déplacement de la sonde est effectué manuellement par le médecin grâce à l’utilisation d’un système de neuro-navigation, ce qui rend très difficile la mise en place d’une évaluation clinique rigoureuse des bienfaits de la SMT. Ce projet vise ainsi à réaliser un système robotique, ainsi que sa commande, capable de remplacer le neurologue durant une séance de SMT, tout en garantissant la sécurité et la précision requises par un traitement médical automatique de ce type.<br> Financement : allocation de recherche unistra (ED MS2I)<br> Co-encadrant : Pierre Renaud<br> Directeur : Michel de Mathelin<br> '''Laurent Barbé Téléopération avec retour d'efforts pour les interventions percutanées 2007 (http://www.theses.fr/2007STR13082)<br> La radiologie interventionnelle est une technique chirurgicale minimallement invasive qui permet d'atteindre des organes à traiter avec des aiguilles, guidées à partir d'images scanner. Bien que cette technique offre de nombreux avantages, l'exposition aux rayons X qu'elle occasionne est nocive pour le radiologue. Pour résoudre ce problème, nousavons développé un système de téléopération avec retour d'efforts. Son cahier des charges a été établi à partir d'expériences in-vivo, qui ont notamment conduit à la modélisation des forces lors d'une insertion. Le système développé répond aux contraintes liées à l'utilisation des rayons X et aux besoins des praticiens. Une étude approfondies a permis de déterminer la commande bilatérale la mieux adaptée à l'application. Pour améliorer la perception des efforts, deux approches ont été étudiées. La première est une synthèse automatique de la commande en effort côté maître. La seconde vise à accroître la sensation de passage entre les tissus.<br> Financement : BDI/région Alsace<br> Directeur : Michel de Mathelin<br> '''Benjamin Maurin Conception et réalisation d’un robot d’insertion d’aiguille pour les procédures percutanées sous imageur scanner 2005 (http://www.theses.fr/2005STR13211)<br> Les interventions radiologiques percutanées consistent en l'insertion d'aiguilles dans le corps d'un patient afin d'atteindre des cibles anatomiques particulières telles que des tumeurs. Ces procédures, nécessitant une grande précision, obligent le radiologue à surveiller l'insertion des aiguilles en utilisant des dispositifs d'imagerie temps-réel tels que les scanners tomographiques à rayons X. Actuellement, ces procédures sont coûteuses en temps, ont une précision de l'ordre du centimètres, et surtout exposent le radiologue à des doses considérables de rayons X. La robotique permet de remplacer le bras du radiologue dans la phase d'insertion d'une aiguille sous contrôle scanner. La robotisation a l'avantage de protéger le praticien, tout en offrant des possibilités supplémentaires de navigation, de guidage, et donc de précision. Nous avons construit un robot compatible mécaniquement à ce type d'opération. La commande du robot est éffectuée par un PC sous en environnement temps-réel. Le robot utilise des moteurs piézo-électriques, et une planification de trajectoire avec évitemment des auto-collisions. La boucle de retour se fait principalement par le chirurgien, selon une structure 'Maître-esclave'. Pour assurer un positionnement fiable par asservissement en position, nous estimons la position du robot dans le repère de l'image afin d'obtenir des consignes en position et en orientation de l'aiguille. Cette estimation de pose 3D utilise le principe de la stéréotaxie à des marqueurs tridimensionnels.<br> Financement : Bourse région Alsace<br> Directeur : Michel de Mathelin<br> 5ac7b58bf1831b2bfad257538e9da2453e78a4d0 85 84 2022-07-19T15:39:27Z Bernard.bayle 5 wikitext text/x-wiki '''Fadi Alyousef Almasalmah Sécurité des gestes chirurgicaux télé-opérés à retour d'effort 2024 (http://theses.fr/s301883)<br> ''Financement : bourse région Grand Est et Labex CAMI<br> ''Co-encadrant : Hassan Omran, Chao Liu (LIRMM)<br> ''Directeurs : Bernard Bayle, Florent Nageotte<br> '''Guillaume Lods Planning and control algorithms for continuum robots 2024 (https://www.theses.fr/s298750)<br> ''Financement : ANR JCJC MACROS (Benoit Rosa, Robots continus multi-actionnés pour la chirugie mini-invasive)<br> ''Co-encadrant : Benoit Rosa<br> ''Directeurs : Bernard Bayle, Florent Nageotte<br> '''Thibault Poignonec Commande partagée pour la télémanipulation en chirurgie minimalement invasive 2022 (http://www.theses.fr/s270395)<br> ''Financement : bourse région Grand Est et Labex CAMI<br> ''Co-encadrant : Nabil Zemitti (LIRMM)<br> ''Directeurs : Bernard Bayle, Florent Nageotte<br> '' '''Paul Baksic Assistance robotique aux procédures percutanées chirurgicales dans les systèmes déformables 2024 (http://theses.fr/s270293)<br> ''Financement : bourse région Grand Est et Labex CAMI<br> ''Co-encadrant : Hadrien Courtecuisse<br> ''Directeur : Bernard Bayle<br> '''Julien Garnon Assistance à l'injection de larges volumes du ciment 2020 (http://theses.fr/s212133)<br> La cimentoplastie extra-rachidienne est une intervention percutanée guidée par l’image qui consiste à injecter du ciment acrylique, du polymethylmétacrylate (PMMA) le plus souvent, au sein d’un os pathologique. Le but est non seulement de traiter la douleur mais aussi de renforcer la tenue mécanique de l’os notamment au niveau du bassin. Dans cet optique, le volume de ciment et la technique d’injection pourraient être des facteur prédictifs de succès du geste. Le but de ce travail est de faire un état de l’art sur la cimentoplastie extra-rachidienne, le PMMA et sur la biomécanique du bassin afin d’identifier les axes potentiels de développement de la technique. Une étude des pratiques cliniques est également réalisée. S’en suit la présentation des résultats de travaux précliniques sur l’influence du volume de ciment et de la technique d’injection d’un volume de PMMA supérieur à 10 ml. Puis 3 axes d’assistance à l’injection d’un volume de plus de 10 ml sont présentés et évalués.<br> ''Financement propre (Praticien Hospitalier)<br> ''Co-encadrante : Laurence Meylheuc<br> ''Directeur : Bernard Bayle<br> '''Maciej Bednarczyk Commande avancée des robots collaboratifs en considérant un modèle dynamique de l'interaction homme-robot 2020 (http://theses.fr/s189327) En raison de l'intérêt croissant pour l'utilisation de systèmes robotiques dans un espace de travail partagé avec des opérateurs humains, le développement de robots collaboratifs met l'interaction Homme-robot au centre des préoccupations des roboticiens. Pour cette raison, le développement de nouveaux outils de contrôle permettant la gestion des interactions est devenu un sujet de recherche important. Ainsi, la conception de solutions améliorant la dynamique d'interaction et garantissant l'intégrité de l’opérateur est d’un intérêt particulier. Dans cette thèse, plusieurs outils de contrôle pour la robotique collaborative sont proposés. Les problématiques abordées visent notamment à garantir simultanément la compliance des robots tout en gérant des contraintes, ou à modifier la dynamique d'interaction de manière sûre. L’utilisation de bio-signaux afin d’améliorer la collaboration Homme-robot est également étudiée, pour évaluer l'intention de l’utilisateur. Cet ensemble de problématiques conduit à la conception de contrôleurs dédiés. Deux preuves de concept d’applications médicales utilisant les outils proposés sont développées pour l'insertion autonome d'aiguilles en radiologie interventionnelle et pour la rééducation bimanuelle.<br> ''Financement : allocation de recherche<br> ''Co-encadrant : Hassan Omran<br> ''Directeur : Bernard Bayle<br> '''François Schmitt Perception et restitution de la raideur des tissus dans les procédures médicales et chirurgicales minimalement invasives 2019 (http://theses.fr/2019STRAD033)<br> Le contexte de cette thèse est le développement d’outils pour améliorer la perception de la raideur des tissus dans le cadre de la chirurgie laparoscopique assistée par comanipulation. Lors de procédures manuelles, cette perception est distordue, notamment par l’effet levier, conséquence des contraintes cinématiques imposées par le trocart. Cette thèse s’articule ainsi autour de deux parties. Dans une première partie, nous étudions l’effet levier et les distorsions qu’il produit dans le cadre d’un outil comanipulé. Nous y introduisons ainsi un modèle permettant l’analyse en raideur d’un outil comanipulé par un chirurgien et un robot. Sur cette base, nous développons une stratégie de compensation pour laquelle nous avons mis en place une expérience de validation. Dans une deuxième partie, nous abordons la conception d’une nouvelle architecture à cinématique RCM, intégrant structure et actionnement pour des applications de robotique légère. Nous présentons notamment une démarche de conception de systèmes origamis articulés produits à l’aide de procédés de fabrication multi-matériaux.<br> ''Financement : bourse région Alsace et Labex CAMI<br> ''Co-encadrants : Laurent Barbé, Olivier Piccin, G. Morel (ISIR)<br> ''Directeur : Bernard Bayle<br> '''Nicole Lepoutre Caractérisation et identification de l'injection de ciment orthopédique pour la vertébroplastie télé-opérée en radiologie interventionnelle 2016 (http://theses.fr/2016STRAD049)<br> La vertébroplastie percutanée est une intervention non chirurgicale et peu invasive qui consiste à injecter, sous contrôle radioscopique, un ciment orthopédique dans le corps vertébral. Malgré son efficacité, celle-ci présente quelques inconvénients non négligeables. Le premier est dû au ciment orthopédique qui est injecté pendant sa polymérisation. Au début, sa faible viscosité augmente le risque de fuite hors de la vertèbre traitée, ce qui peut provoquer de lourdes complications. Ensuite, la variation rapide de viscosité limite la durée. Le second désagrément concerne le contrôle par fluoroscopie à rayons X qui expose le praticien de manière prolongée. Ainsi, l’enjeu de ce projet est de proposer aux radiologues un nouveau système d’injection à distance avec retour d’effort sur lequel la viscosité du ciment est régulée pendant l’injection. Le développement de ces aspects permettra la radioprotection des praticiens, une réduction des risques de fuite et une durée d’injection allongée.<br> ''Financement : allocation de recherche unistra (ED MS2I)<br> ''Co-encadrantes : Laurence Meylheuc, Iuliana Bara<br> ''Directeur : Bernard Bayle<br> '''Nitish Kumar Design and development of devices for robotized needle insertion procedures 2014 (http://www.theses.fr/2014STRAD024)<br> Ces travaux de thèse apportent plusieurs contributions à la conception de dispositifs d'assistance robotisés pour la réalisation de procédures d'insertion d'aiguille sous imageur à rayons X. Partant de la tâche de positionnement et d'orientation d'une aiguille, plusieurs architectures mécaniques inédites à quatre degrés de liberté ont été proposées. Un algorithme de synthèse dimensionnelle a été conçu pour calculer les paramètres structuraux de ces mécanismes en étudiant leurs singularités, tout en tenant compte des contraintes antagonistes de compacité du système, de capacité d'actionnement et de taille d'espace de travail. Une décomposition modulaire du dispositif d'assistance a permis de proposer des solutions pour un outil dédié à l'insertion d'aiguille avec retour d'effort. Cet outil comporte un dispositif d'insertion, un système de préhension d'aiguille et un capteur d'effort spécifique pour le retour d'effort.<br> ''Financement : Carnot Santé Numérique et IHU Strasbourg<br> ''Co-encadrant : Olivier Piccin<br> ''Directeur : Bernard Bayle<br> '''Laure Esteveny Vers un actionnement sûr pour la radiologie interventionnelle robotisée 2014 (http://www.theses.fr/2014STRAD015)<br> En radiologie interventionnelle, l’assistance robotisée permet de limiter l’exposition du praticien aux rayons X et d’apporter plus de précision pour effectuer des opérations complexes. La présence de robots dans un environnement humain pose alors la question de la sécurité du patient et de l’équipe médicale, que ce soit lors d’interactions ou de manipulations. Dans cette thèse, nous nous intéressons dans un premier temps aux problématiques de sûreté. Une structure d’actionnement intrinsèquement sûre est proposée. Le prototype réalisé permet d’effectuer des tâches de positionnement en mode automatique. Parallèlement, une stratégie de guidage basée sur une approche passive est proposée. Un système à raideur variable permet d’imposer un effort résistif variable à l’utilisateur en vue de contraindre son geste. Dans une deuxième partie, nous étudions la possibilité d’intégrer de tels systèmes sur un dispositif à plusieurs degrés de liberté, répondant au problème de placement d’aiguille.<br> ''Financement : bourse région Alsace<br> ''Co-encadrant : Laurent Barbé<br> ''Directeur : Bernard Bayle<br> '''Salih Abdelaziz Développement d'un système robotique pour la radiologie interventionnelle sous IRM 2012 (http://www.theses.fr/2012STRAD034)<br> La réalisation de gestes percutanés dans l’IRM ouvre la voie à des pratiques médicales prometteuses. En revanche, l’utilisation de l’IRM reste à ce jour limitée, et ce malgré l’intérêt en terme de qualité d’image. Cela est dû principalement à l’étroitesse du tunnel et à la complexité des gestes réalisés. Pour rendre accessibles de telles pratiques, une assistance robotique semble très pertinente. Pour le concepteur, la réalisation d’un système robotisé compatible IRM n’est pas une tâche facile, étant donné l’espace disponible et la présence d’un champ magnétique intense. C'est dans ce contexte que nous avons développé un assistant robotique, MRGuide, dédié aux traitements du cancer de la prostate dans l’IRM. Il s'agit d'un manipulateur à câbles avec un actionnement déporté. Dans ce travail, de nombreuses contributions menant à la réalisation de ce prototypes ont présentées. Parmi celles‐ci, une instrumentation originale pour estimer la tension des câbles est proposée. Cette instrumentation est basée sur l’utilisation d’une structure en treillis, de mécanismes compliants et de capteurs de déplacement à technologie optique pour assurer la compatibilité avec le scanner. Pour optimiser la géométrie du robot et faciliter son intégration dans l'IRM, une démarche de conception des robots à câbles instrumentés est développée. Cette démarche est basée sur une approche par intervalles. D'autres contributions relatives à la caractérisation de l'espace de travail des robots à câbles instrumentés, à l'étalonnage des capteurs de tension et au développement d'une stratégie de commande adaptée au dispositif sont décrites.<br> ''Financement : allocation de recherche unistra (ED MS2I) <br> ''Co-encadrant : Pierre Renaud<br> ''Directeur : Michel de Mathelin<br> '''Mathieu Joinie-Maurin Téléchirurgie robotisée au contact d'organes mobiles 2012 (http://www.theses.fr/2012STRAD017)<br> Dans les procédures médicales et chirurgicales robotisées un des problèmes principaux vient des mouvements physiologiques du patient et de ses organes. En particulier, les mouvements liés à la respiration peuvent avoir une grande amplitude et donc perturber considérablement la réalisation de gestes précis et sûrs. Pour un robot interagissant avec un patient, il est donc naturel d'envisager une compensation de ces mouvements, notamment respiratoires. Dans l'état actuel des connaissances, différentes expériences de compensation active de mouvement ont été proposées et réalisées avec succès. Dans l'équipe AVR, nous avons démontré la faisabilité d'une compensation active des mouvements physiologiques par asservissement visuel, dans le cas des mouvements respiratoires, puis de mouvements cardiaques.<br> La superposition d'un geste médical exécuté par un robot à cette compensation active a été proposée récemment. Les travaux existant dans le domaine restent pourtant très limités. En particulier l'interaction robot-patient avec prise en compte des efforts demeure un sujet ouvert à ce jour. Différents problèmes se posent dans le cadre d'une telle procédure : i) la mesure d'effort et la séparation des composantes de l'effort liées à la respiration de celles liées à l'interaction outil-organe ; ii) la définition d'une loi de commande au contact combinant les informations obtenues à l'aide d'une caméra avec celles obtenues avec le capteur d'effort ; iii) l'implantation d'une telle loi de commande dans un schéma de téléopération avec retour d'effort. La résolution de ce problème permettrait au praticien d'effectuer un geste chirurgical en percevant les interactions avec les organes, tout en observant sur son écran une scène quasi immobile, et donc dans laquelle il est plus facile d'accomplir les gestes.<br> ''Financement : Bourse doctorant CNRS (ex BDI) et région Alsace<br> ''Directeur : Jacques Gangloff<br> '''Ahmed Ayadi Injection automatique dans le petit animal guidée par vision 2008 (http://www.theses.fr/2008STR13065)<br> L’objectif de ce travail de thèse est la conception et le développement d’un système d’insertion robotisée d’aiguille pour le petit animal. Le dispositif proposé se compose d’un scanner à rayons X, d’un robot et d’un système de vision. Dans le protocole proposé, l’animal attaché à son lit, est passé au scanner afin d’acquérir son modèle CT. Le biologiste définit alors l’étape d’insertion en choisissant deux points dans les données CT : le point d’entrée au niveau de la peau et la cible à atteindre. Ensuite, l’animal et son lit sont déplacés hors du scanner et placés devant le robot. Ce protocole nécessite deux recalages. Le premier permet d’identifier la position de l’animal par rapport au robot suite à son déplacement. Ainsi, les deux points choisis par le biologiste dans les images scanner peuvent être définis dans le repère du robot. La solution proposée est basée sur la projection de lumière structurée sur une cible de recalage. Cette dernière est identifiée également dans les images scanner. Le deuxième recalage consiste à positionner et orienter d’une manière automatique et précise l’aiguille par rapport à la cible. Les deux méthodes proposées sont indépendantes du modèle d’aiguille et de sa fixation au robot. La première méthode proposée est basée sur la création d’une mire virtuelle obtenue suite au déplacement du robot avec un pas fixe et suite à l’extraction de l’aiguille dans l’image caméra. Cette solution conduit à une procédure longue, dont la précision n’a pas été jugée suffisante. La seconde approche proposée est basée sur l’asservissement visuel 2D stéréoscopique. Les paramètres visuels sont extraits directement des images de l’aiguille et tiennent compte de leur redondance. Les premiers tests effectués montrent une précision inférieure à 1 mm et 0,05 rad pour le positionnement de l’aiguille.<br> ''Financement : Bourse région Alsace + IRCAD<br> ''Directeurs : Pierre Graebling, Jacques Gangloff<br> '''Cyrille Lebossé Stimulation magnétique transcrânienne robotisée guidée par imagerie médicale 2008 (http://www.theses.fr/2008STR13046)<br> Ce projet a pour but de concevoir un système robotique dédié à la Stimulation Magnétique Transcrânienne (SMT) guidée par imagerie. La SMT est une technique non-invasive qui se développe de plus en plus pour le traitement de pathologies importantes comme la dépression nerveuse ou les troubles obsessionnels compulsifs. Ce traitement nécessite le déplacement et l’orientation de manière précise d’une sonde électromagnétique à la surface du crâne, afin de produire l’excitation requise des sillons corticaux cibles. Les régions cibles et la trajectoire que devra suivre la sonde sont déterminées au préalable sur une reconstruction 3D du cerveau à partir d’images IRM. A l’heure actuelle, le déplacement de la sonde est effectué manuellement par le médecin grâce à l’utilisation d’un système de neuro-navigation, ce qui rend très difficile la mise en place d’une évaluation clinique rigoureuse des bienfaits de la SMT. Ce projet vise ainsi à réaliser un système robotique, ainsi que sa commande, capable de remplacer le neurologue durant une séance de SMT, tout en garantissant la sécurité et la précision requises par un traitement médical automatique de ce type.<br> ''Financement : allocation de recherche unistra (ED MS2I)<br> ''Co-encadrant : Pierre Renaud<br> ''Directeur : Michel de Mathelin<br> '''Laurent Barbé Téléopération avec retour d'efforts pour les interventions percutanées 2007 (http://www.theses.fr/2007STR13082)<br> La radiologie interventionnelle est une technique chirurgicale minimallement invasive qui permet d'atteindre des organes à traiter avec des aiguilles, guidées à partir d'images scanner. Bien que cette technique offre de nombreux avantages, l'exposition aux rayons X qu'elle occasionne est nocive pour le radiologue. Pour résoudre ce problème, nousavons développé un système de téléopération avec retour d'efforts. Son cahier des charges a été établi à partir d'expériences in-vivo, qui ont notamment conduit à la modélisation des forces lors d'une insertion. Le système développé répond aux contraintes liées à l'utilisation des rayons X et aux besoins des praticiens. Une étude approfondies a permis de déterminer la commande bilatérale la mieux adaptée à l'application. Pour améliorer la perception des efforts, deux approches ont été étudiées. La première est une synthèse automatique de la commande en effort côté maître. La seconde vise à accroître la sensation de passage entre les tissus.<br> ''Financement : BDI/région Alsace<br> ''Directeur : Michel de Mathelin<br> '''Benjamin Maurin Conception et réalisation d’un robot d’insertion d’aiguille pour les procédures percutanées sous imageur scanner 2005 (http://www.theses.fr/2005STR13211)<br> Les interventions radiologiques percutanées consistent en l'insertion d'aiguilles dans le corps d'un patient afin d'atteindre des cibles anatomiques particulières telles que des tumeurs. Ces procédures, nécessitant une grande précision, obligent le radiologue à surveiller l'insertion des aiguilles en utilisant des dispositifs d'imagerie temps-réel tels que les scanners tomographiques à rayons X. Actuellement, ces procédures sont coûteuses en temps, ont une précision de l'ordre du centimètres, et surtout exposent le radiologue à des doses considérables de rayons X. La robotique permet de remplacer le bras du radiologue dans la phase d'insertion d'une aiguille sous contrôle scanner. La robotisation a l'avantage de protéger le praticien, tout en offrant des possibilités supplémentaires de navigation, de guidage, et donc de précision. Nous avons construit un robot compatible mécaniquement à ce type d'opération. La commande du robot est éffectuée par un PC sous en environnement temps-réel. Le robot utilise des moteurs piézo-électriques, et une planification de trajectoire avec évitemment des auto-collisions. La boucle de retour se fait principalement par le chirurgien, selon une structure 'Maître-esclave'. Pour assurer un positionnement fiable par asservissement en position, nous estimons la position du robot dans le repère de l'image afin d'obtenir des consignes en position et en orientation de l'aiguille. Cette estimation de pose 3D utilise le principe de la stéréotaxie à des marqueurs tridimensionnels.<br> ''Financement : Bourse région Alsace<br> ''Directeur : Michel de Mathelin<br> f1aff88a7519e9c4622745fe8236cfec1773a042 86 85 2022-07-19T15:40:07Z Bernard.bayle 5 wikitext text/x-wiki '''Fadi Alyousef Almasalmah Sécurité des gestes chirurgicaux télé-opérés à retour d'effort 2024 (http://theses.fr/s301883)<br> ''Financement : bourse région Grand Est et Labex CAMI<br> ''Co-encadrant : Hassan Omran, Chao Liu (LIRMM)<br> ''Directeurs : Bernard Bayle, Florent Nageotte<br> '''Guillaume Lods Planning and control algorithms for continuum robots 2024 (https://www.theses.fr/s298750)<br> ''Financement : ANR JCJC MACROS (Benoit Rosa, Robots continus multi-actionnés pour la chirugie mini-invasive)<br> ''Co-encadrant : Benoit Rosa<br> ''Directeurs : Bernard Bayle, Florent Nageotte<br> '''Thibault Poignonec Commande partagée pour la télémanipulation en chirurgie minimalement invasive 2022 (http://www.theses.fr/s270395)<br> ''Financement : bourse région Grand Est et Labex CAMI<br> ''Co-encadrant : Nabil Zemitti (LIRMM)<br> ''Directeurs : Bernard Bayle, Florent Nageotte<br> '''Paul Baksic Assistance robotique aux procédures percutanées chirurgicales dans les systèmes déformables 2024 (http://theses.fr/s270293)<br> ''Financement : bourse région Grand Est et Labex CAMI<br> ''Co-encadrant : Hadrien Courtecuisse<br> ''Directeur : Bernard Bayle<br> '''Julien Garnon Assistance à l'injection de larges volumes du ciment 2020 (http://theses.fr/s212133)<br> La cimentoplastie extra-rachidienne est une intervention percutanée guidée par l’image qui consiste à injecter du ciment acrylique, du polymethylmétacrylate (PMMA) le plus souvent, au sein d’un os pathologique. Le but est non seulement de traiter la douleur mais aussi de renforcer la tenue mécanique de l’os notamment au niveau du bassin. Dans cet optique, le volume de ciment et la technique d’injection pourraient être des facteur prédictifs de succès du geste. Le but de ce travail est de faire un état de l’art sur la cimentoplastie extra-rachidienne, le PMMA et sur la biomécanique du bassin afin d’identifier les axes potentiels de développement de la technique. Une étude des pratiques cliniques est également réalisée. S’en suit la présentation des résultats de travaux précliniques sur l’influence du volume de ciment et de la technique d’injection d’un volume de PMMA supérieur à 10 ml. Puis 3 axes d’assistance à l’injection d’un volume de plus de 10 ml sont présentés et évalués.<br> ''Financement propre (Praticien Hospitalier)<br> ''Co-encadrante : Laurence Meylheuc<br> ''Directeur : Bernard Bayle<br> '''Maciej Bednarczyk Commande avancée des robots collaboratifs en considérant un modèle dynamique de l'interaction homme-robot 2020 (http://theses.fr/s189327) En raison de l'intérêt croissant pour l'utilisation de systèmes robotiques dans un espace de travail partagé avec des opérateurs humains, le développement de robots collaboratifs met l'interaction Homme-robot au centre des préoccupations des roboticiens. Pour cette raison, le développement de nouveaux outils de contrôle permettant la gestion des interactions est devenu un sujet de recherche important. Ainsi, la conception de solutions améliorant la dynamique d'interaction et garantissant l'intégrité de l’opérateur est d’un intérêt particulier. Dans cette thèse, plusieurs outils de contrôle pour la robotique collaborative sont proposés. Les problématiques abordées visent notamment à garantir simultanément la compliance des robots tout en gérant des contraintes, ou à modifier la dynamique d'interaction de manière sûre. L’utilisation de bio-signaux afin d’améliorer la collaboration Homme-robot est également étudiée, pour évaluer l'intention de l’utilisateur. Cet ensemble de problématiques conduit à la conception de contrôleurs dédiés. Deux preuves de concept d’applications médicales utilisant les outils proposés sont développées pour l'insertion autonome d'aiguilles en radiologie interventionnelle et pour la rééducation bimanuelle.<br> ''Financement : allocation de recherche<br> ''Co-encadrant : Hassan Omran<br> ''Directeur : Bernard Bayle<br> '''François Schmitt Perception et restitution de la raideur des tissus dans les procédures médicales et chirurgicales minimalement invasives 2019 (http://theses.fr/2019STRAD033)<br> Le contexte de cette thèse est le développement d’outils pour améliorer la perception de la raideur des tissus dans le cadre de la chirurgie laparoscopique assistée par comanipulation. Lors de procédures manuelles, cette perception est distordue, notamment par l’effet levier, conséquence des contraintes cinématiques imposées par le trocart. Cette thèse s’articule ainsi autour de deux parties. Dans une première partie, nous étudions l’effet levier et les distorsions qu’il produit dans le cadre d’un outil comanipulé. Nous y introduisons ainsi un modèle permettant l’analyse en raideur d’un outil comanipulé par un chirurgien et un robot. Sur cette base, nous développons une stratégie de compensation pour laquelle nous avons mis en place une expérience de validation. Dans une deuxième partie, nous abordons la conception d’une nouvelle architecture à cinématique RCM, intégrant structure et actionnement pour des applications de robotique légère. Nous présentons notamment une démarche de conception de systèmes origamis articulés produits à l’aide de procédés de fabrication multi-matériaux.<br> ''Financement : bourse région Alsace et Labex CAMI<br> ''Co-encadrants : Laurent Barbé, Olivier Piccin, G. Morel (ISIR)<br> ''Directeur : Bernard Bayle<br> '''Nicole Lepoutre Caractérisation et identification de l'injection de ciment orthopédique pour la vertébroplastie télé-opérée en radiologie interventionnelle 2016 (http://theses.fr/2016STRAD049)<br> La vertébroplastie percutanée est une intervention non chirurgicale et peu invasive qui consiste à injecter, sous contrôle radioscopique, un ciment orthopédique dans le corps vertébral. Malgré son efficacité, celle-ci présente quelques inconvénients non négligeables. Le premier est dû au ciment orthopédique qui est injecté pendant sa polymérisation. Au début, sa faible viscosité augmente le risque de fuite hors de la vertèbre traitée, ce qui peut provoquer de lourdes complications. Ensuite, la variation rapide de viscosité limite la durée. Le second désagrément concerne le contrôle par fluoroscopie à rayons X qui expose le praticien de manière prolongée. Ainsi, l’enjeu de ce projet est de proposer aux radiologues un nouveau système d’injection à distance avec retour d’effort sur lequel la viscosité du ciment est régulée pendant l’injection. Le développement de ces aspects permettra la radioprotection des praticiens, une réduction des risques de fuite et une durée d’injection allongée.<br> ''Financement : allocation de recherche unistra (ED MS2I)<br> ''Co-encadrantes : Laurence Meylheuc, Iuliana Bara<br> ''Directeur : Bernard Bayle<br> '''Nitish Kumar Design and development of devices for robotized needle insertion procedures 2014 (http://www.theses.fr/2014STRAD024)<br> Ces travaux de thèse apportent plusieurs contributions à la conception de dispositifs d'assistance robotisés pour la réalisation de procédures d'insertion d'aiguille sous imageur à rayons X. Partant de la tâche de positionnement et d'orientation d'une aiguille, plusieurs architectures mécaniques inédites à quatre degrés de liberté ont été proposées. Un algorithme de synthèse dimensionnelle a été conçu pour calculer les paramètres structuraux de ces mécanismes en étudiant leurs singularités, tout en tenant compte des contraintes antagonistes de compacité du système, de capacité d'actionnement et de taille d'espace de travail. Une décomposition modulaire du dispositif d'assistance a permis de proposer des solutions pour un outil dédié à l'insertion d'aiguille avec retour d'effort. Cet outil comporte un dispositif d'insertion, un système de préhension d'aiguille et un capteur d'effort spécifique pour le retour d'effort.<br> ''Financement : Carnot Santé Numérique et IHU Strasbourg<br> ''Co-encadrant : Olivier Piccin<br> ''Directeur : Bernard Bayle<br> '''Laure Esteveny Vers un actionnement sûr pour la radiologie interventionnelle robotisée 2014 (http://www.theses.fr/2014STRAD015)<br> En radiologie interventionnelle, l’assistance robotisée permet de limiter l’exposition du praticien aux rayons X et d’apporter plus de précision pour effectuer des opérations complexes. La présence de robots dans un environnement humain pose alors la question de la sécurité du patient et de l’équipe médicale, que ce soit lors d’interactions ou de manipulations. Dans cette thèse, nous nous intéressons dans un premier temps aux problématiques de sûreté. Une structure d’actionnement intrinsèquement sûre est proposée. Le prototype réalisé permet d’effectuer des tâches de positionnement en mode automatique. Parallèlement, une stratégie de guidage basée sur une approche passive est proposée. Un système à raideur variable permet d’imposer un effort résistif variable à l’utilisateur en vue de contraindre son geste. Dans une deuxième partie, nous étudions la possibilité d’intégrer de tels systèmes sur un dispositif à plusieurs degrés de liberté, répondant au problème de placement d’aiguille.<br> ''Financement : bourse région Alsace<br> ''Co-encadrant : Laurent Barbé<br> ''Directeur : Bernard Bayle<br> '''Salih Abdelaziz Développement d'un système robotique pour la radiologie interventionnelle sous IRM 2012 (http://www.theses.fr/2012STRAD034)<br> La réalisation de gestes percutanés dans l’IRM ouvre la voie à des pratiques médicales prometteuses. En revanche, l’utilisation de l’IRM reste à ce jour limitée, et ce malgré l’intérêt en terme de qualité d’image. Cela est dû principalement à l’étroitesse du tunnel et à la complexité des gestes réalisés. Pour rendre accessibles de telles pratiques, une assistance robotique semble très pertinente. Pour le concepteur, la réalisation d’un système robotisé compatible IRM n’est pas une tâche facile, étant donné l’espace disponible et la présence d’un champ magnétique intense. C'est dans ce contexte que nous avons développé un assistant robotique, MRGuide, dédié aux traitements du cancer de la prostate dans l’IRM. Il s'agit d'un manipulateur à câbles avec un actionnement déporté. Dans ce travail, de nombreuses contributions menant à la réalisation de ce prototypes ont présentées. Parmi celles‐ci, une instrumentation originale pour estimer la tension des câbles est proposée. Cette instrumentation est basée sur l’utilisation d’une structure en treillis, de mécanismes compliants et de capteurs de déplacement à technologie optique pour assurer la compatibilité avec le scanner. Pour optimiser la géométrie du robot et faciliter son intégration dans l'IRM, une démarche de conception des robots à câbles instrumentés est développée. Cette démarche est basée sur une approche par intervalles. D'autres contributions relatives à la caractérisation de l'espace de travail des robots à câbles instrumentés, à l'étalonnage des capteurs de tension et au développement d'une stratégie de commande adaptée au dispositif sont décrites.<br> ''Financement : allocation de recherche unistra (ED MS2I) <br> ''Co-encadrant : Pierre Renaud<br> ''Directeur : Michel de Mathelin<br> '''Mathieu Joinie-Maurin Téléchirurgie robotisée au contact d'organes mobiles 2012 (http://www.theses.fr/2012STRAD017)<br> Dans les procédures médicales et chirurgicales robotisées un des problèmes principaux vient des mouvements physiologiques du patient et de ses organes. En particulier, les mouvements liés à la respiration peuvent avoir une grande amplitude et donc perturber considérablement la réalisation de gestes précis et sûrs. Pour un robot interagissant avec un patient, il est donc naturel d'envisager une compensation de ces mouvements, notamment respiratoires. Dans l'état actuel des connaissances, différentes expériences de compensation active de mouvement ont été proposées et réalisées avec succès. Dans l'équipe AVR, nous avons démontré la faisabilité d'une compensation active des mouvements physiologiques par asservissement visuel, dans le cas des mouvements respiratoires, puis de mouvements cardiaques.<br> La superposition d'un geste médical exécuté par un robot à cette compensation active a été proposée récemment. Les travaux existant dans le domaine restent pourtant très limités. En particulier l'interaction robot-patient avec prise en compte des efforts demeure un sujet ouvert à ce jour. Différents problèmes se posent dans le cadre d'une telle procédure : i) la mesure d'effort et la séparation des composantes de l'effort liées à la respiration de celles liées à l'interaction outil-organe ; ii) la définition d'une loi de commande au contact combinant les informations obtenues à l'aide d'une caméra avec celles obtenues avec le capteur d'effort ; iii) l'implantation d'une telle loi de commande dans un schéma de téléopération avec retour d'effort. La résolution de ce problème permettrait au praticien d'effectuer un geste chirurgical en percevant les interactions avec les organes, tout en observant sur son écran une scène quasi immobile, et donc dans laquelle il est plus facile d'accomplir les gestes.<br> ''Financement : Bourse doctorant CNRS (ex BDI) et région Alsace<br> ''Directeur : Jacques Gangloff<br> '''Ahmed Ayadi Injection automatique dans le petit animal guidée par vision 2008 (http://www.theses.fr/2008STR13065)<br> L’objectif de ce travail de thèse est la conception et le développement d’un système d’insertion robotisée d’aiguille pour le petit animal. Le dispositif proposé se compose d’un scanner à rayons X, d’un robot et d’un système de vision. Dans le protocole proposé, l’animal attaché à son lit, est passé au scanner afin d’acquérir son modèle CT. Le biologiste définit alors l’étape d’insertion en choisissant deux points dans les données CT : le point d’entrée au niveau de la peau et la cible à atteindre. Ensuite, l’animal et son lit sont déplacés hors du scanner et placés devant le robot. Ce protocole nécessite deux recalages. Le premier permet d’identifier la position de l’animal par rapport au robot suite à son déplacement. Ainsi, les deux points choisis par le biologiste dans les images scanner peuvent être définis dans le repère du robot. La solution proposée est basée sur la projection de lumière structurée sur une cible de recalage. Cette dernière est identifiée également dans les images scanner. Le deuxième recalage consiste à positionner et orienter d’une manière automatique et précise l’aiguille par rapport à la cible. Les deux méthodes proposées sont indépendantes du modèle d’aiguille et de sa fixation au robot. La première méthode proposée est basée sur la création d’une mire virtuelle obtenue suite au déplacement du robot avec un pas fixe et suite à l’extraction de l’aiguille dans l’image caméra. Cette solution conduit à une procédure longue, dont la précision n’a pas été jugée suffisante. La seconde approche proposée est basée sur l’asservissement visuel 2D stéréoscopique. Les paramètres visuels sont extraits directement des images de l’aiguille et tiennent compte de leur redondance. Les premiers tests effectués montrent une précision inférieure à 1 mm et 0,05 rad pour le positionnement de l’aiguille.<br> ''Financement : Bourse région Alsace + IRCAD<br> ''Directeurs : Pierre Graebling, Jacques Gangloff<br> '''Cyrille Lebossé Stimulation magnétique transcrânienne robotisée guidée par imagerie médicale 2008 (http://www.theses.fr/2008STR13046)<br> Ce projet a pour but de concevoir un système robotique dédié à la Stimulation Magnétique Transcrânienne (SMT) guidée par imagerie. La SMT est une technique non-invasive qui se développe de plus en plus pour le traitement de pathologies importantes comme la dépression nerveuse ou les troubles obsessionnels compulsifs. Ce traitement nécessite le déplacement et l’orientation de manière précise d’une sonde électromagnétique à la surface du crâne, afin de produire l’excitation requise des sillons corticaux cibles. Les régions cibles et la trajectoire que devra suivre la sonde sont déterminées au préalable sur une reconstruction 3D du cerveau à partir d’images IRM. A l’heure actuelle, le déplacement de la sonde est effectué manuellement par le médecin grâce à l’utilisation d’un système de neuro-navigation, ce qui rend très difficile la mise en place d’une évaluation clinique rigoureuse des bienfaits de la SMT. Ce projet vise ainsi à réaliser un système robotique, ainsi que sa commande, capable de remplacer le neurologue durant une séance de SMT, tout en garantissant la sécurité et la précision requises par un traitement médical automatique de ce type.<br> ''Financement : allocation de recherche unistra (ED MS2I)<br> ''Co-encadrant : Pierre Renaud<br> ''Directeur : Michel de Mathelin<br> '''Laurent Barbé Téléopération avec retour d'efforts pour les interventions percutanées 2007 (http://www.theses.fr/2007STR13082)<br> La radiologie interventionnelle est une technique chirurgicale minimallement invasive qui permet d'atteindre des organes à traiter avec des aiguilles, guidées à partir d'images scanner. Bien que cette technique offre de nombreux avantages, l'exposition aux rayons X qu'elle occasionne est nocive pour le radiologue. Pour résoudre ce problème, nousavons développé un système de téléopération avec retour d'efforts. Son cahier des charges a été établi à partir d'expériences in-vivo, qui ont notamment conduit à la modélisation des forces lors d'une insertion. Le système développé répond aux contraintes liées à l'utilisation des rayons X et aux besoins des praticiens. Une étude approfondies a permis de déterminer la commande bilatérale la mieux adaptée à l'application. Pour améliorer la perception des efforts, deux approches ont été étudiées. La première est une synthèse automatique de la commande en effort côté maître. La seconde vise à accroître la sensation de passage entre les tissus.<br> ''Financement : BDI/région Alsace<br> ''Directeur : Michel de Mathelin<br> '''Benjamin Maurin Conception et réalisation d’un robot d’insertion d’aiguille pour les procédures percutanées sous imageur scanner 2005 (http://www.theses.fr/2005STR13211)<br> Les interventions radiologiques percutanées consistent en l'insertion d'aiguilles dans le corps d'un patient afin d'atteindre des cibles anatomiques particulières telles que des tumeurs. Ces procédures, nécessitant une grande précision, obligent le radiologue à surveiller l'insertion des aiguilles en utilisant des dispositifs d'imagerie temps-réel tels que les scanners tomographiques à rayons X. Actuellement, ces procédures sont coûteuses en temps, ont une précision de l'ordre du centimètres, et surtout exposent le radiologue à des doses considérables de rayons X. La robotique permet de remplacer le bras du radiologue dans la phase d'insertion d'une aiguille sous contrôle scanner. La robotisation a l'avantage de protéger le praticien, tout en offrant des possibilités supplémentaires de navigation, de guidage, et donc de précision. Nous avons construit un robot compatible mécaniquement à ce type d'opération. La commande du robot est éffectuée par un PC sous en environnement temps-réel. Le robot utilise des moteurs piézo-électriques, et une planification de trajectoire avec évitemment des auto-collisions. La boucle de retour se fait principalement par le chirurgien, selon une structure 'Maître-esclave'. Pour assurer un positionnement fiable par asservissement en position, nous estimons la position du robot dans le repère de l'image afin d'obtenir des consignes en position et en orientation de l'aiguille. Cette estimation de pose 3D utilise le principe de la stéréotaxie à des marqueurs tridimensionnels.<br> ''Financement : Bourse région Alsace<br> ''Directeur : Michel de Mathelin<br> 33dad8a2967a4810b48159e0284f9d22949019a7 97 86 2022-07-19T16:25:13Z Bernard.bayle 5 Blanked the page wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 0 25 89 2022-07-19T15:49:31Z Bernard.bayle 5 Created page with "=== Télécom Physique Strasbourg, cursus ingénieur === ==== Première année ==== '''Automatique Continue<br> '''Ce cours est maintenant sur Moodle unistra : https://moodl..." wikitext text/x-wiki === Télécom Physique Strasbourg, cursus ingénieur === ==== Première année ==== '''Automatique Continue<br> '''Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=8485.<br> Le polycopié et les transparents projetés restent accessibles à tous, via les liens suivants : polycopié Automatique Continue (pdf), transparents (pdf). '''Mécatronique<br> Ce cours est maintenant sur Moodle unistra : https://moodle3.unistra.fr/course/view.php?id=9125.<br> Les transparents projetés restent accessibles à tous, via le lien suivant : Introduction robotique mobile (Bernard Bayle, pdf). 9e2b11ad158a483992303639663f0adac93dd30a 90 89 2022-07-19T15:56:33Z Bernard.bayle 5 /* Télécom Physique Strasbourg, cursus ingénieur */ wikitext text/x-wiki === Télécom Physique Strasbourg, cursus ingénieur (in French) === '''Automatique Continue, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=8485.<br> Le polycopié et les transparents projetés restent accessibles à tous, via les liens suivants : polycopié Automatique Continue (pdf), transparents (pdf). '''Mécatronique, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle3.unistra.fr/course/view.php?id=9125.<br> Les transparents projetés restent accessibles à tous, via le lien suivant : Introduction robotique mobile (Bernard Bayle, pdf). '''Robotique Mobile, 3A<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=13042.<br> Les transparents projetés restent accessibles à tous, via les liens suivants : polycopié Robotique Mobile (pdf), transparents (pdf).<br> '''Technologie des Asservissements, cours/tutoriel 3A<br> Les transparents projetés restent accessibles à tous, via les liens suivants : (pdf).<br> === Télécom Physique Strasbourg, IRIV HealthTech Master Track (in English) === '''Haptics<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=14262.<br> However material remains available to everybody with the following links: Haptic perception (pdf, no video), Haptic technology (pdf, no video).<br> '''Robotics<br> This course is now on Moodle unistra : https://moodle.unistra.fr/course/view.php?id=12927<br> However (former) material remains available to everybody with the following links:<br> Course text (only in French, intro, full course)<br> Course slides:<br> * Course 1. Fundamentals of robotic modelling (pdf) * Course 2. Robot parameterization (pdf) * Course 3. Robot modelling (pdf) * Course 4. Robot design (pdf) * Course 5. Robot position control (pdf) * Course 6. Robot control technology (pdf)<br> '''Computer Aided Medical Interventions<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=12255.<br> However material remains available to everybody with the following links: Introduction course (pdf, no video), Functionalities and methods in medical robotics (pdf, no video).<br> bfaa96f78033e87ed658fd015a8f50298fd1c9c7 91 90 2022-07-19T15:58:53Z Bernard.bayle 5 Blanked the page wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 0 26 93 2022-07-19T15:59:44Z Bernard.bayle 5 Created page with "=== Télécom Physique Strasbourg, cursus ingénieur (in French) === '''Automatique Continue, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/..." wikitext text/x-wiki === Télécom Physique Strasbourg, cursus ingénieur (in French) === '''Automatique Continue, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=8485.<br> Le polycopié et les transparents projetés restent accessibles à tous, via les liens suivants : polycopié Automatique Continue (pdf), transparents (pdf). '''Mécatronique, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle3.unistra.fr/course/view.php?id=9125.<br> Les transparents projetés restent accessibles à tous, via le lien suivant : Introduction robotique mobile (Bernard Bayle, pdf). '''Robotique Mobile, 3A<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=13042.<br> Les transparents projetés restent accessibles à tous, via les liens suivants : polycopié Robotique Mobile (pdf), transparents (pdf).<br> '''Technologie des Asservissements, cours/tutoriel 3A<br> Les transparents projetés restent accessibles à tous, via les liens suivants : (pdf).<br> === Télécom Physique Strasbourg, IRIV HealthTech Master Track (in English) === '''Haptics<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=14262.<br> However material remains available to everybody with the following links: Haptic perception (pdf, no video), Haptic technology (pdf, no video).<br> '''Robotics<br> This course is now on Moodle unistra : https://moodle.unistra.fr/course/view.php?id=12927<br> However (former) material remains available to everybody with the following links:<br> Course text (only in French, intro, full course)<br> Course slides:<br> * Course 1. Fundamentals of robotic modelling (pdf) * Course 2. Robot parameterization (pdf) * Course 3. Robot modelling (pdf) * Course 4. Robot design (pdf) * Course 5. Robot position control (pdf) * Course 6. Robot control technology (pdf)<br> '''Computer Aided Medical Interventions<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=12255.<br> However material remains available to everybody with the following links: Introduction course (pdf, no video), Functionalities and methods in medical robotics (pdf, no video).<br> bfaa96f78033e87ed658fd015a8f50298fd1c9c7 94 93 2022-07-19T16:09:47Z Bernard.bayle 5 wikitext text/x-wiki (liens en cours de construction)<br> === Télécom Physique Strasbourg, cursus ingénieur (in French) === '''Automatique Continue, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=8485.<br> Le polycopié et les transparents projetés restent accessibles à tous, via les liens suivants : polycopié Automatique Continue (pdf), transparents (pdf). '''Mécatronique, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle3.unistra.fr/course/view.php?id=9125.<br> Les transparents projetés restent accessibles à tous, via le lien suivant : Introduction robotique mobile (Bernard Bayle, pdf). '''Robotique Mobile, 3A<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=13042.<br> Les transparents d'introduction projetés ainsi que le polycopié restent accessibles à tous, via les liens suivants : polycopié Robotique Mobile (pdf), transparents intro (pdf).<br> '''Technologie des Asservissements, cours/tutoriel 3A<br> Les transparents projetés restent accessibles à tous, via les liens suivants : (pdf).<br> === Télécom Physique Strasbourg, IRIV HealthTech Master Track (in English) === '''Haptics<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=14262.<br> However material remains available to everybody with the following links: Haptic perception (pdf, no video), Haptic technology (pdf, no video).<br> '''Robotics<br> This course is now on Moodle unistra : https://moodle.unistra.fr/course/view.php?id=12927<br> However (former) material remains available to everybody with the following links:<br> Course text (only in French, intro, full course)<br> Course slides:<br> * Course 1. Fundamentals of robotic modelling (pdf) * Course 2. Robot parameterization (pdf) * Course 3. Robot modelling (pdf) * Course 4. Robot design (pdf) * Course 5. Robot position control (pdf) * Course 6. Robot control technology (pdf)<br> '''Computer Aided Medical Interventions<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=12255.<br> However material remains available to everybody with the following links: Introduction course (pdf, no video), Functionalities and methods in medical robotics (pdf, no video).<br> e6b4ff388f5928d926250b7139d9bc16a1b77cb6 0 27 99 2022-07-19T16:25:51Z Bernard.bayle 5 Created page with "'''Fadi Alyousef Almasalmah Sécurité des gestes chirurgicaux télé-opérés à retour d'effort 2024 (http://theses.fr/s301883)<br> ''Financement : bourse région Grand Est..." wikitext text/x-wiki '''Fadi Alyousef Almasalmah Sécurité des gestes chirurgicaux télé-opérés à retour d'effort 2024 (http://theses.fr/s301883)<br> ''Financement : bourse région Grand Est et Labex CAMI<br> ''Co-encadrant : Hassan Omran, Chao Liu (LIRMM)<br> ''Directeurs : Bernard Bayle, Florent Nageotte<br> '''Guillaume Lods Planning and control algorithms for continuum robots 2024 (https://www.theses.fr/s298750)<br> ''Financement : ANR JCJC MACROS (Benoit Rosa, Robots continus multi-actionnés pour la chirugie mini-invasive)<br> ''Co-encadrant : Benoit Rosa<br> ''Directeurs : Bernard Bayle, Florent Nageotte<br> '''Thibault Poignonec Commande partagée pour la télémanipulation en chirurgie minimalement invasive 2022 (http://www.theses.fr/s270395)<br> ''Financement : bourse région Grand Est et Labex CAMI<br> ''Co-encadrant : Nabil Zemitti (LIRMM)<br> ''Directeurs : Bernard Bayle, Florent Nageotte<br> '''Paul Baksic Assistance robotique aux procédures percutanées chirurgicales dans les systèmes déformables 2024 (http://theses.fr/s270293)<br> ''Financement : bourse région Grand Est et Labex CAMI<br> ''Co-encadrant : Hadrien Courtecuisse<br> ''Directeur : Bernard Bayle<br> '''Julien Garnon Assistance à l'injection de larges volumes du ciment 2020 (http://theses.fr/s212133)<br> La cimentoplastie extra-rachidienne est une intervention percutanée guidée par l’image qui consiste à injecter du ciment acrylique, du polymethylmétacrylate (PMMA) le plus souvent, au sein d’un os pathologique. Le but est non seulement de traiter la douleur mais aussi de renforcer la tenue mécanique de l’os notamment au niveau du bassin. Dans cet optique, le volume de ciment et la technique d’injection pourraient être des facteur prédictifs de succès du geste. Le but de ce travail est de faire un état de l’art sur la cimentoplastie extra-rachidienne, le PMMA et sur la biomécanique du bassin afin d’identifier les axes potentiels de développement de la technique. Une étude des pratiques cliniques est également réalisée. S’en suit la présentation des résultats de travaux précliniques sur l’influence du volume de ciment et de la technique d’injection d’un volume de PMMA supérieur à 10 ml. Puis 3 axes d’assistance à l’injection d’un volume de plus de 10 ml sont présentés et évalués.<br> ''Financement propre (Praticien Hospitalier)<br> ''Co-encadrante : Laurence Meylheuc<br> ''Directeur : Bernard Bayle<br> '''Maciej Bednarczyk Commande avancée des robots collaboratifs en considérant un modèle dynamique de l'interaction homme-robot 2020 (http://theses.fr/s189327) En raison de l'intérêt croissant pour l'utilisation de systèmes robotiques dans un espace de travail partagé avec des opérateurs humains, le développement de robots collaboratifs met l'interaction Homme-robot au centre des préoccupations des roboticiens. Pour cette raison, le développement de nouveaux outils de contrôle permettant la gestion des interactions est devenu un sujet de recherche important. Ainsi, la conception de solutions améliorant la dynamique d'interaction et garantissant l'intégrité de l’opérateur est d’un intérêt particulier. Dans cette thèse, plusieurs outils de contrôle pour la robotique collaborative sont proposés. Les problématiques abordées visent notamment à garantir simultanément la compliance des robots tout en gérant des contraintes, ou à modifier la dynamique d'interaction de manière sûre. L’utilisation de bio-signaux afin d’améliorer la collaboration Homme-robot est également étudiée, pour évaluer l'intention de l’utilisateur. Cet ensemble de problématiques conduit à la conception de contrôleurs dédiés. Deux preuves de concept d’applications médicales utilisant les outils proposés sont développées pour l'insertion autonome d'aiguilles en radiologie interventionnelle et pour la rééducation bimanuelle.<br> ''Financement : allocation de recherche<br> ''Co-encadrant : Hassan Omran<br> ''Directeur : Bernard Bayle<br> '''François Schmitt Perception et restitution de la raideur des tissus dans les procédures médicales et chirurgicales minimalement invasives 2019 (http://theses.fr/2019STRAD033)<br> Le contexte de cette thèse est le développement d’outils pour améliorer la perception de la raideur des tissus dans le cadre de la chirurgie laparoscopique assistée par comanipulation. Lors de procédures manuelles, cette perception est distordue, notamment par l’effet levier, conséquence des contraintes cinématiques imposées par le trocart. Cette thèse s’articule ainsi autour de deux parties. Dans une première partie, nous étudions l’effet levier et les distorsions qu’il produit dans le cadre d’un outil comanipulé. Nous y introduisons ainsi un modèle permettant l’analyse en raideur d’un outil comanipulé par un chirurgien et un robot. Sur cette base, nous développons une stratégie de compensation pour laquelle nous avons mis en place une expérience de validation. Dans une deuxième partie, nous abordons la conception d’une nouvelle architecture à cinématique RCM, intégrant structure et actionnement pour des applications de robotique légère. Nous présentons notamment une démarche de conception de systèmes origamis articulés produits à l’aide de procédés de fabrication multi-matériaux.<br> ''Financement : bourse région Alsace et Labex CAMI<br> ''Co-encadrants : Laurent Barbé, Olivier Piccin, G. Morel (ISIR)<br> ''Directeur : Bernard Bayle<br> '''Nicole Lepoutre Caractérisation et identification de l'injection de ciment orthopédique pour la vertébroplastie télé-opérée en radiologie interventionnelle 2016 (http://theses.fr/2016STRAD049)<br> La vertébroplastie percutanée est une intervention non chirurgicale et peu invasive qui consiste à injecter, sous contrôle radioscopique, un ciment orthopédique dans le corps vertébral. Malgré son efficacité, celle-ci présente quelques inconvénients non négligeables. Le premier est dû au ciment orthopédique qui est injecté pendant sa polymérisation. Au début, sa faible viscosité augmente le risque de fuite hors de la vertèbre traitée, ce qui peut provoquer de lourdes complications. Ensuite, la variation rapide de viscosité limite la durée. Le second désagrément concerne le contrôle par fluoroscopie à rayons X qui expose le praticien de manière prolongée. Ainsi, l’enjeu de ce projet est de proposer aux radiologues un nouveau système d’injection à distance avec retour d’effort sur lequel la viscosité du ciment est régulée pendant l’injection. Le développement de ces aspects permettra la radioprotection des praticiens, une réduction des risques de fuite et une durée d’injection allongée.<br> ''Financement : allocation de recherche unistra (ED MS2I)<br> ''Co-encadrantes : Laurence Meylheuc, Iuliana Bara<br> ''Directeur : Bernard Bayle<br> '''Nitish Kumar Design and development of devices for robotized needle insertion procedures 2014 (http://www.theses.fr/2014STRAD024)<br> Ces travaux de thèse apportent plusieurs contributions à la conception de dispositifs d'assistance robotisés pour la réalisation de procédures d'insertion d'aiguille sous imageur à rayons X. Partant de la tâche de positionnement et d'orientation d'une aiguille, plusieurs architectures mécaniques inédites à quatre degrés de liberté ont été proposées. Un algorithme de synthèse dimensionnelle a été conçu pour calculer les paramètres structuraux de ces mécanismes en étudiant leurs singularités, tout en tenant compte des contraintes antagonistes de compacité du système, de capacité d'actionnement et de taille d'espace de travail. Une décomposition modulaire du dispositif d'assistance a permis de proposer des solutions pour un outil dédié à l'insertion d'aiguille avec retour d'effort. Cet outil comporte un dispositif d'insertion, un système de préhension d'aiguille et un capteur d'effort spécifique pour le retour d'effort.<br> ''Financement : Carnot Santé Numérique et IHU Strasbourg<br> ''Co-encadrant : Olivier Piccin<br> ''Directeur : Bernard Bayle<br> '''Laure Esteveny Vers un actionnement sûr pour la radiologie interventionnelle robotisée 2014 (http://www.theses.fr/2014STRAD015)<br> En radiologie interventionnelle, l’assistance robotisée permet de limiter l’exposition du praticien aux rayons X et d’apporter plus de précision pour effectuer des opérations complexes. La présence de robots dans un environnement humain pose alors la question de la sécurité du patient et de l’équipe médicale, que ce soit lors d’interactions ou de manipulations. Dans cette thèse, nous nous intéressons dans un premier temps aux problématiques de sûreté. Une structure d’actionnement intrinsèquement sûre est proposée. Le prototype réalisé permet d’effectuer des tâches de positionnement en mode automatique. Parallèlement, une stratégie de guidage basée sur une approche passive est proposée. Un système à raideur variable permet d’imposer un effort résistif variable à l’utilisateur en vue de contraindre son geste. Dans une deuxième partie, nous étudions la possibilité d’intégrer de tels systèmes sur un dispositif à plusieurs degrés de liberté, répondant au problème de placement d’aiguille.<br> ''Financement : bourse région Alsace<br> ''Co-encadrant : Laurent Barbé<br> ''Directeur : Bernard Bayle<br> '''Salih Abdelaziz Développement d'un système robotique pour la radiologie interventionnelle sous IRM 2012 (http://www.theses.fr/2012STRAD034)<br> La réalisation de gestes percutanés dans l’IRM ouvre la voie à des pratiques médicales prometteuses. En revanche, l’utilisation de l’IRM reste à ce jour limitée, et ce malgré l’intérêt en terme de qualité d’image. Cela est dû principalement à l’étroitesse du tunnel et à la complexité des gestes réalisés. Pour rendre accessibles de telles pratiques, une assistance robotique semble très pertinente. Pour le concepteur, la réalisation d’un système robotisé compatible IRM n’est pas une tâche facile, étant donné l’espace disponible et la présence d’un champ magnétique intense. C'est dans ce contexte que nous avons développé un assistant robotique, MRGuide, dédié aux traitements du cancer de la prostate dans l’IRM. Il s'agit d'un manipulateur à câbles avec un actionnement déporté. Dans ce travail, de nombreuses contributions menant à la réalisation de ce prototypes ont présentées. Parmi celles‐ci, une instrumentation originale pour estimer la tension des câbles est proposée. Cette instrumentation est basée sur l’utilisation d’une structure en treillis, de mécanismes compliants et de capteurs de déplacement à technologie optique pour assurer la compatibilité avec le scanner. Pour optimiser la géométrie du robot et faciliter son intégration dans l'IRM, une démarche de conception des robots à câbles instrumentés est développée. Cette démarche est basée sur une approche par intervalles. D'autres contributions relatives à la caractérisation de l'espace de travail des robots à câbles instrumentés, à l'étalonnage des capteurs de tension et au développement d'une stratégie de commande adaptée au dispositif sont décrites.<br> ''Financement : allocation de recherche unistra (ED MS2I) <br> ''Co-encadrant : Pierre Renaud<br> ''Directeur : Michel de Mathelin<br> '''Mathieu Joinie-Maurin Téléchirurgie robotisée au contact d'organes mobiles 2012 (http://www.theses.fr/2012STRAD017)<br> Dans les procédures médicales et chirurgicales robotisées un des problèmes principaux vient des mouvements physiologiques du patient et de ses organes. En particulier, les mouvements liés à la respiration peuvent avoir une grande amplitude et donc perturber considérablement la réalisation de gestes précis et sûrs. Pour un robot interagissant avec un patient, il est donc naturel d'envisager une compensation de ces mouvements, notamment respiratoires. Dans l'état actuel des connaissances, différentes expériences de compensation active de mouvement ont été proposées et réalisées avec succès. Dans l'équipe AVR, nous avons démontré la faisabilité d'une compensation active des mouvements physiologiques par asservissement visuel, dans le cas des mouvements respiratoires, puis de mouvements cardiaques.<br> La superposition d'un geste médical exécuté par un robot à cette compensation active a été proposée récemment. Les travaux existant dans le domaine restent pourtant très limités. En particulier l'interaction robot-patient avec prise en compte des efforts demeure un sujet ouvert à ce jour. Différents problèmes se posent dans le cadre d'une telle procédure : i) la mesure d'effort et la séparation des composantes de l'effort liées à la respiration de celles liées à l'interaction outil-organe ; ii) la définition d'une loi de commande au contact combinant les informations obtenues à l'aide d'une caméra avec celles obtenues avec le capteur d'effort ; iii) l'implantation d'une telle loi de commande dans un schéma de téléopération avec retour d'effort. La résolution de ce problème permettrait au praticien d'effectuer un geste chirurgical en percevant les interactions avec les organes, tout en observant sur son écran une scène quasi immobile, et donc dans laquelle il est plus facile d'accomplir les gestes.<br> ''Financement : Bourse doctorant CNRS (ex BDI) et région Alsace<br> ''Directeur : Jacques Gangloff<br> '''Ahmed Ayadi Injection automatique dans le petit animal guidée par vision 2008 (http://www.theses.fr/2008STR13065)<br> L’objectif de ce travail de thèse est la conception et le développement d’un système d’insertion robotisée d’aiguille pour le petit animal. Le dispositif proposé se compose d’un scanner à rayons X, d’un robot et d’un système de vision. Dans le protocole proposé, l’animal attaché à son lit, est passé au scanner afin d’acquérir son modèle CT. Le biologiste définit alors l’étape d’insertion en choisissant deux points dans les données CT : le point d’entrée au niveau de la peau et la cible à atteindre. Ensuite, l’animal et son lit sont déplacés hors du scanner et placés devant le robot. Ce protocole nécessite deux recalages. Le premier permet d’identifier la position de l’animal par rapport au robot suite à son déplacement. Ainsi, les deux points choisis par le biologiste dans les images scanner peuvent être définis dans le repère du robot. La solution proposée est basée sur la projection de lumière structurée sur une cible de recalage. Cette dernière est identifiée également dans les images scanner. Le deuxième recalage consiste à positionner et orienter d’une manière automatique et précise l’aiguille par rapport à la cible. Les deux méthodes proposées sont indépendantes du modèle d’aiguille et de sa fixation au robot. La première méthode proposée est basée sur la création d’une mire virtuelle obtenue suite au déplacement du robot avec un pas fixe et suite à l’extraction de l’aiguille dans l’image caméra. Cette solution conduit à une procédure longue, dont la précision n’a pas été jugée suffisante. La seconde approche proposée est basée sur l’asservissement visuel 2D stéréoscopique. Les paramètres visuels sont extraits directement des images de l’aiguille et tiennent compte de leur redondance. Les premiers tests effectués montrent une précision inférieure à 1 mm et 0,05 rad pour le positionnement de l’aiguille.<br> ''Financement : Bourse région Alsace + IRCAD<br> ''Directeurs : Pierre Graebling, Jacques Gangloff<br> '''Cyrille Lebossé Stimulation magnétique transcrânienne robotisée guidée par imagerie médicale 2008 (http://www.theses.fr/2008STR13046)<br> Ce projet a pour but de concevoir un système robotique dédié à la Stimulation Magnétique Transcrânienne (SMT) guidée par imagerie. La SMT est une technique non-invasive qui se développe de plus en plus pour le traitement de pathologies importantes comme la dépression nerveuse ou les troubles obsessionnels compulsifs. Ce traitement nécessite le déplacement et l’orientation de manière précise d’une sonde électromagnétique à la surface du crâne, afin de produire l’excitation requise des sillons corticaux cibles. Les régions cibles et la trajectoire que devra suivre la sonde sont déterminées au préalable sur une reconstruction 3D du cerveau à partir d’images IRM. A l’heure actuelle, le déplacement de la sonde est effectué manuellement par le médecin grâce à l’utilisation d’un système de neuro-navigation, ce qui rend très difficile la mise en place d’une évaluation clinique rigoureuse des bienfaits de la SMT. Ce projet vise ainsi à réaliser un système robotique, ainsi que sa commande, capable de remplacer le neurologue durant une séance de SMT, tout en garantissant la sécurité et la précision requises par un traitement médical automatique de ce type.<br> ''Financement : allocation de recherche unistra (ED MS2I)<br> ''Co-encadrant : Pierre Renaud<br> ''Directeur : Michel de Mathelin<br> '''Laurent Barbé Téléopération avec retour d'efforts pour les interventions percutanées 2007 (http://www.theses.fr/2007STR13082)<br> La radiologie interventionnelle est une technique chirurgicale minimallement invasive qui permet d'atteindre des organes à traiter avec des aiguilles, guidées à partir d'images scanner. Bien que cette technique offre de nombreux avantages, l'exposition aux rayons X qu'elle occasionne est nocive pour le radiologue. Pour résoudre ce problème, nousavons développé un système de téléopération avec retour d'efforts. Son cahier des charges a été établi à partir d'expériences in-vivo, qui ont notamment conduit à la modélisation des forces lors d'une insertion. Le système développé répond aux contraintes liées à l'utilisation des rayons X et aux besoins des praticiens. Une étude approfondies a permis de déterminer la commande bilatérale la mieux adaptée à l'application. Pour améliorer la perception des efforts, deux approches ont été étudiées. La première est une synthèse automatique de la commande en effort côté maître. La seconde vise à accroître la sensation de passage entre les tissus.<br> ''Financement : BDI/région Alsace<br> ''Directeur : Michel de Mathelin<br> '''Benjamin Maurin Conception et réalisation d’un robot d’insertion d’aiguille pour les procédures percutanées sous imageur scanner 2005 (http://www.theses.fr/2005STR13211)<br> Les interventions radiologiques percutanées consistent en l'insertion d'aiguilles dans le corps d'un patient afin d'atteindre des cibles anatomiques particulières telles que des tumeurs. Ces procédures, nécessitant une grande précision, obligent le radiologue à surveiller l'insertion des aiguilles en utilisant des dispositifs d'imagerie temps-réel tels que les scanners tomographiques à rayons X. Actuellement, ces procédures sont coûteuses en temps, ont une précision de l'ordre du centimètres, et surtout exposent le radiologue à des doses considérables de rayons X. La robotique permet de remplacer le bras du radiologue dans la phase d'insertion d'une aiguille sous contrôle scanner. La robotisation a l'avantage de protéger le praticien, tout en offrant des possibilités supplémentaires de navigation, de guidage, et donc de précision. Nous avons construit un robot compatible mécaniquement à ce type d'opération. La commande du robot est éffectuée par un PC sous en environnement temps-réel. Le robot utilise des moteurs piézo-électriques, et une planification de trajectoire avec évitemment des auto-collisions. La boucle de retour se fait principalement par le chirurgien, selon une structure 'Maître-esclave'. Pour assurer un positionnement fiable par asservissement en position, nous estimons la position du robot dans le repère de l'image afin d'obtenir des consignes en position et en orientation de l'aiguille. Cette estimation de pose 3D utilise le principe de la stéréotaxie à des marqueurs tridimensionnels.<br> ''Financement : Bourse région Alsace<br> ''Directeur : Michel de Mathelin<br> 33dad8a2967a4810b48159e0284f9d22949019a7 0 26 104 94 2022-07-20T06:35:43Z Bernard.bayle 5 /* Télécom Physique Strasbourg, cursus ingénieur (in French) */ wikitext text/x-wiki (liens en cours de construction)<br> === Télécom Physique Strasbourg, cursus ingénieur (in French) === '''Automatique Continue, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=8485.<br> Le polycopié et les transparents projetés restent accessibles à tous, via les liens suivants : polycopié Automatique Continue ([https://seafile.unistra.fr/f/2c740d5ab345488897ef/ pdf]), transparents ([https://seafile.unistra.fr/f/7a0bf80bdfc04847bcf5/ pdf]). '''Mécatronique, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle3.unistra.fr/course/view.php?id=9125.<br> Les transparents projetés restent accessibles à tous, via le lien suivant : Introduction robotique mobile (Bernard Bayle, [https://seafile.unistra.fr/f/d707148c251c44d099b0/ pdf]). '''Robotique Mobile, 3A<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=13042.<br> Les transparents d'introduction projetés ainsi que le polycopié restent accessibles à tous, via les liens suivants : polycopié Robotique Mobile ([https://seafile.unistra.fr/f/51aeec4914f349f8966b/ pdf]), transparents intro ([https://seafile.unistra.fr/f/00e00e1e1dab426d9c26/ pdf]).<br> '''Technologie des Asservissements, cours/tutoriel 3A<br> Les transparents projetés restent accessibles à tous, via le lien suivants : ([https://seafile.unistra.fr/f/d5108828764145d0a974/ pdf]).<br> === Télécom Physique Strasbourg, IRIV HealthTech Master Track (in English) === '''Haptics<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=14262.<br> However material remains available to everybody with the following links: Haptic perception (pdf, no video), Haptic technology (pdf, no video).<br> '''Robotics<br> This course is now on Moodle unistra : https://moodle.unistra.fr/course/view.php?id=12927<br> However (former) material remains available to everybody with the following links:<br> Course text (only in French, intro, full course)<br> Course slides:<br> * Course 1. Fundamentals of robotic modelling (pdf) * Course 2. Robot parameterization (pdf) * Course 3. Robot modelling (pdf) * Course 4. Robot design (pdf) * Course 5. Robot position control (pdf) * Course 6. Robot control technology (pdf)<br> '''Computer Aided Medical Interventions<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=12255.<br> However material remains available to everybody with the following links: Introduction course (pdf, no video), Functionalities and methods in medical robotics (pdf, no video).<br> b3e2aa347b7a6e65a431f700f35a313dca75f793 105 104 2022-07-20T06:37:58Z Bernard.bayle 5 /* Télécom Physique Strasbourg, IRIV HealthTech Master Track (in English) */ wikitext text/x-wiki (liens en cours de construction)<br> === Télécom Physique Strasbourg, cursus ingénieur (in French) === '''Automatique Continue, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=8485.<br> Le polycopié et les transparents projetés restent accessibles à tous, via les liens suivants : polycopié Automatique Continue ([https://seafile.unistra.fr/f/2c740d5ab345488897ef/ pdf]), transparents ([https://seafile.unistra.fr/f/7a0bf80bdfc04847bcf5/ pdf]). '''Mécatronique, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle3.unistra.fr/course/view.php?id=9125.<br> Les transparents projetés restent accessibles à tous, via le lien suivant : Introduction robotique mobile (Bernard Bayle, [https://seafile.unistra.fr/f/d707148c251c44d099b0/ pdf]). '''Robotique Mobile, 3A<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=13042.<br> Les transparents d'introduction projetés ainsi que le polycopié restent accessibles à tous, via les liens suivants : polycopié Robotique Mobile ([https://seafile.unistra.fr/f/51aeec4914f349f8966b/ pdf]), transparents intro ([https://seafile.unistra.fr/f/00e00e1e1dab426d9c26/ pdf]).<br> '''Technologie des Asservissements, cours/tutoriel 3A<br> Les transparents projetés restent accessibles à tous, via le lien suivants : ([https://seafile.unistra.fr/f/d5108828764145d0a974/ pdf]).<br> === Télécom Physique Strasbourg, IRIV HealthTech Master Track (in English) === '''Haptics<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=14262.<br> However material remains available to everybody with the following links: Haptic perception ([https://seafile.unistra.fr/f/0ca6a652df4e4d61920e/ pdf], no video), Haptic technology ([https://seafile.unistra.fr/f/610051c0f30843a992eb/ pdf], no video).<br> '''Robotics<br> This course is now on Moodle unistra : https://moodle.unistra.fr/course/view.php?id=12927<br> However (former) material remains available to everybody with the following links:<br> Course text (only in French, intro, full course)<br> Course slides:<br> * Course 0. Introduction to robotics ([https://seafile.unistra.fr/f/c78138a01aca47b8b19f/ pdf]) * Course 1. Fundamentals of robotic modelling (pdf) * Course 2. Robot parameterization (pdf) * Course 3. Robot modelling (pdf) * Course 4. Robot design (pdf) * Course 5. Robot position control (pdf) * Course 6. Robot control technology (pdf)<br> '''Computer Aided Medical Interventions<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=12255.<br> However material remains available to everybody with the following links: Introduction course (pdf, no video), Functionalities and methods in medical robotics (pdf, no video).<br> 87f0ba54fb1c48e16998dadf1ef32e785cfae6c2 106 105 2022-07-20T09:13:06Z Bernard.bayle 5 wikitext text/x-wiki (liens en cours de construction)<br> === Télécom Physique Strasbourg, cursus ingénieur (in French) === '''Automatique Continue, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=8485.<br> Le polycopié et les transparents projetés restent accessibles à tous, via les liens suivants : polycopié Automatique Continue ([https://seafile.unistra.fr/f/2c740d5ab345488897ef/ pdf]), transparents ([https://seafile.unistra.fr/f/7a0bf80bdfc04847bcf5/ pdf]). '''Mécatronique, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle3.unistra.fr/course/view.php?id=9125.<br> Les transparents projetés restent accessibles à tous, via le lien suivant : Introduction robotique mobile (Bernard Bayle, [https://seafile.unistra.fr/f/d707148c251c44d099b0/ pdf]). '''Robotique Mobile, 3A<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=13042.<br> Les transparents d'introduction projetés ainsi que le polycopié restent accessibles à tous, via les liens suivants : polycopié Robotique Mobile ([https://seafile.unistra.fr/f/51aeec4914f349f8966b/ pdf]), transparents intro ([https://seafile.unistra.fr/f/00e00e1e1dab426d9c26/ pdf]).<br> '''Technologie des Asservissements, cours/tutoriel 3A<br> Les transparents projetés restent accessibles à tous, via le lien suivants : ([https://seafile.unistra.fr/f/d5108828764145d0a974/ pdf]).<br> === Télécom Physique Strasbourg, IRIV HealthTech Master Track (in English) === '''Haptics<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=14262.<br> However material remains available to everybody with the following links: Haptic perception ([https://seafile.unistra.fr/f/0ca6a652df4e4d61920e/ pdf], no video), Haptic technology ([https://seafile.unistra.fr/f/610051c0f30843a992eb/ pdf], no video).<br> '''Robotics<br> This course is now on Moodle unistra : https://moodle.unistra.fr/course/view.php?id=12927<br> However (former) material remains available to everybody with the following links:<br> Course text (only in French, intro, full course)<br> Course slides:<br> * Course 0. Introduction to robotics ([https://seafile.unistra.fr/f/c78138a01aca47b8b19f/ pdf]) * Course 1. Fundamentals of robotic modelling ([https://seafile.unistra.fr/f/9ae44bc03c594e179caf/ pdf]) * Course 2. Robot parameterization ([https://seafile.unistra.fr/f/e03953769b9045be9fe4/ pdf]) * Course 3. Robot modelling ([https://seafile.unistra.fr/f/4b6dbb2d6ff94b5c8d5e/ pdf]) * Course 4. Robot design ([https://seafile.unistra.fr/f/20f2ce8c92af4fe69909/ pdf]) * Course 5. Robot position control ([https://seafile.unistra.fr/f/541eaf10049f432a8bf9/ pdf]) * Course 6. Robot control technology ([https://seafile.unistra.fr/f/ec99110f28b045b79d35/ pdf])<br> '''Computer Aided Medical Interventions<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=12255.<br> However material remains available to everybody with the following links: Introduction course ([https://seafile.unistra.fr/f/30aa0ab6d77a4f6b88eb/ pdf], no video), Functionalities and methods in medical robotics ([https://seafile.unistra.fr/f/e895451fef0746a7b391/ pdf], no video).<br> 114dc98bd475aa4c3d91a39f42eedd250672e202 107 106 2022-07-20T09:22:12Z Bernard.bayle 5 wikitext text/x-wiki (liens en cours de construction)<br> === Télécom Physique Strasbourg, cursus ingénieur (in French) === '''Automatique Continue, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=8485.<br> Le polycopié et les transparents projetés restent accessibles à tous, via les liens suivants : [https://seafile.unistra.fr/f/2c740d5ab345488897ef/ polycopié], [https://seafile.unistra.fr/f/7a0bf80bdfc04847bcf5/ transparents]. '''Mécatronique, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle3.unistra.fr/course/view.php?id=9125.<br> Les transparents projetés restent accessibles à tous, via le lien suivant : [https://seafile.unistra.fr/f/d707148c251c44d099b0/ Introduction robotique mobile]. '''Robotique Mobile, 3A<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=13042.<br> Les transparents d'introduction projetés ainsi que le polycopié restent accessibles à tous, via les liens suivants : [https://seafile.unistra.fr/f/51aeec4914f349f8966b/ polycopié], [https://seafile.unistra.fr/f/00e00e1e1dab426d9c26/ transparents intro].<br> '''Technologie des Asservissements, cours/tutoriel 3A<br> Le polycopié et les transparents projetés restent accessibles à tous, via le lien suivants : [https://seafile.unistra.fr/f/d5108828764145d0a974/ Tutoriel technologie des asservissements].<br> === Télécom Physique Strasbourg, IRIV HealthTech Master Track (in English) === '''Haptics<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=14262.<br> However material remains available to everybody with the following links: [https://seafile.unistra.fr/f/0ca6a652df4e4d61920e/ Haptic perception] (no video), [https://seafile.unistra.fr/f/610051c0f30843a992eb/ Haptic technology ] (no video).<br> '''Robotics<br> This course is now on Moodle unistra : https://moodle.unistra.fr/course/view.php?id=12927<br> However (former) material remains available to everybody with the following links: [https://seafile.unistra.fr/f/ff21b034e93045ed92cc/ Robotique - Modélisation et commande des robots manipulateurs].<br> Course text (only in French, intro, full course)<br> Course slides:<br> * Course 0. [https://seafile.unistra.fr/f/c78138a01aca47b8b19f/ Introduction to robotics] * Course 1. [https://seafile.unistra.fr/f/9ae44bc03c594e179caf/ Fundamentals of robotic modelling] * Course 2. [https://seafile.unistra.fr/f/e03953769b9045be9fe4/ Robot parameterization] * Course 3. [https://seafile.unistra.fr/f/4b6dbb2d6ff94b5c8d5e/ Robot modelling] * Course 4. [https://seafile.unistra.fr/f/20f2ce8c92af4fe69909/ Robot design] * Course 5. [https://seafile.unistra.fr/f/541eaf10049f432a8bf9/ Robot position control] * Course 6. [https://seafile.unistra.fr/f/ec99110f28b045b79d35/ Robot control technology]<br> '''Computer Aided Medical Interventions<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=12255.<br> However material remains available to everybody with the following links: [https://seafile.unistra.fr/f/30aa0ab6d77a4f6b88eb/ Introduction course] (no video), [https://seafile.unistra.fr/f/e895451fef0746a7b391/ Functionalities and methods in medical robotics] (no video).<br> d542cd7745243380c4558a9a247ba49906e1d099 108 107 2022-07-20T09:23:47Z Bernard.bayle 5 wikitext text/x-wiki (liens en cours de construction)<br> === Télécom Physique Strasbourg, cursus ingénieur (in French) === '''Automatique Continue, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=8485.<br> Le polycopié et les transparents projetés restent accessibles à tous, via les liens suivants : [https://seafile.unistra.fr/f/2c740d5ab345488897ef/ polycopié], [https://seafile.unistra.fr/f/7a0bf80bdfc04847bcf5/ transparents]. '''Mécatronique, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle3.unistra.fr/course/view.php?id=9125.<br> Les transparents projetés restent accessibles à tous, via le lien suivant : [https://seafile.unistra.fr/f/d707148c251c44d099b0/ Introduction robotique mobile]. '''Robotique Mobile, 3A<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=13042.<br> Les transparents d'introduction projetés ainsi que le polycopié restent accessibles à tous, via les liens suivants : [https://seafile.unistra.fr/f/51aeec4914f349f8966b/ polycopié], [https://seafile.unistra.fr/f/00e00e1e1dab426d9c26/ transparents intro].<br> '''Technologie des Asservissements, cours/tutoriel 3A<br> Le polycopié et les transparents projetés restent accessibles à tous, via le lien suivants : [https://seafile.unistra.fr/f/d5108828764145d0a974/ Tutoriel technologie des asservissements].<br> === Télécom Physique Strasbourg, IRIV HealthTech Master Track (in English) === '''Haptics<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=14262.<br> However material remains available to everybody with the following links: [https://seafile.unistra.fr/f/0ca6a652df4e4d61920e/ Haptic perception] (no video), [https://seafile.unistra.fr/f/610051c0f30843a992eb/ Haptic technology ] (no video).<br> '''Robotics<br> This course is now on Moodle unistra : https://moodle.unistra.fr/course/view.php?id=12927. However material remains available to everybody with the following links: <br> * Course 0. [https://seafile.unistra.fr/f/c78138a01aca47b8b19f/ Introduction to robotics] * Course 1. [https://seafile.unistra.fr/f/9ae44bc03c594e179caf/ Fundamentals of robotic modelling] * Course 2. [https://seafile.unistra.fr/f/e03953769b9045be9fe4/ Robot parameterization] * Course 3. [https://seafile.unistra.fr/f/4b6dbb2d6ff94b5c8d5e/ Robot modelling] * Course 4. [https://seafile.unistra.fr/f/20f2ce8c92af4fe69909/ Robot design] * Course 5. [https://seafile.unistra.fr/f/541eaf10049f432a8bf9/ Robot position control] * Course 6. [https://seafile.unistra.fr/f/ec99110f28b045b79d35/ Robot control technology]<br> Former material in French remains available to everybody with the following links: [https://seafile.unistra.fr/f/ff21b034e93045ed92cc/ Robotique - Modélisation et commande des robots manipulateurs].<br> '''Computer Aided Medical Interventions<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=12255.<br> However material remains available to everybody with the following links: [https://seafile.unistra.fr/f/30aa0ab6d77a4f6b88eb/ Introduction course] (no video), [https://seafile.unistra.fr/f/e895451fef0746a7b391/ Functionalities and methods in medical robotics] (no video).<br> d0410af5e7304c6974c333c71e9f259fbd8c5712 109 108 2022-07-20T09:26:09Z Bernard.bayle 5 wikitext text/x-wiki (liens en cours de construction)<br> === Télécom Physique Strasbourg, cursus ingénieur (in French) === '''Automatique Continue, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=8485.<br> Le polycopié et les transparents projetés restent accessibles à tous, via les liens suivants : [https://seafile.unistra.fr/f/2c740d5ab345488897ef/ polycopié], [https://seafile.unistra.fr/f/7a0bf80bdfc04847bcf5/ transparents]. '''Mécatronique, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle3.unistra.fr/course/view.php?id=9125.<br> Les transparents projetés restent accessibles à tous, via le lien suivant : [https://seafile.unistra.fr/f/d707148c251c44d099b0/ Introduction robotique mobile]. '''Robotique Mobile, 3A<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=13042.<br> Les transparents d'introduction projetés ainsi que le polycopié restent accessibles à tous, via les liens suivants : [https://seafile.unistra.fr/f/51aeec4914f349f8966b/ polycopié], [https://seafile.unistra.fr/f/00e00e1e1dab426d9c26/ transparents intro].<br> '''Robotique, 2A TI Santé<br> Ce cours est désormais donné en Anglais dans une version modifiée (voir plus loin). Le polycopié précédent reste accessibles à tous, via le lien suivant : [https://seafile.unistra.fr/f/ff21b034e93045ed92cc/ Robotique - Modélisation et commande des robots manipulateurs].<br> '''Technologie des Asservissements, cours/tutoriel 3A<br> Le polycopié et les transparents projetés restent accessibles à tous, via le lien suivants : [https://seafile.unistra.fr/f/d5108828764145d0a974/ Tutoriel technologie des asservissements].<br> === Télécom Physique Strasbourg, IRIV HealthTech Master Track (in English) === '''Haptics<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=14262.<br> However material remains available to everybody with the following links: [https://seafile.unistra.fr/f/0ca6a652df4e4d61920e/ Haptic perception] (no video), [https://seafile.unistra.fr/f/610051c0f30843a992eb/ Haptic technology ] (no video).<br> '''Robotics<br> This course is now on Moodle unistra : https://moodle.unistra.fr/course/view.php?id=12927. However material remains available to everybody with the following links: <br> * Course 0. [https://seafile.unistra.fr/f/c78138a01aca47b8b19f/ Introduction to robotics] * Course 1. [https://seafile.unistra.fr/f/9ae44bc03c594e179caf/ Fundamentals of robotic modelling] * Course 2. [https://seafile.unistra.fr/f/e03953769b9045be9fe4/ Robot parameterization] * Course 3. [https://seafile.unistra.fr/f/4b6dbb2d6ff94b5c8d5e/ Robot modelling] * Course 4. [https://seafile.unistra.fr/f/20f2ce8c92af4fe69909/ Robot design] * Course 5. [https://seafile.unistra.fr/f/541eaf10049f432a8bf9/ Robot position control] * Course 6. [https://seafile.unistra.fr/f/ec99110f28b045b79d35/ Robot control technology]<br> '''Computer Aided Medical Interventions<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=12255.<br> However material remains available to everybody with the following links: [https://seafile.unistra.fr/f/30aa0ab6d77a4f6b88eb/ Introduction course] (no video), [https://seafile.unistra.fr/f/e895451fef0746a7b391/ Functionalities and methods in medical robotics] (no video).<br> 7dfce40abf0ba64032c177a299a488ab50892482 110 109 2022-07-20T09:27:24Z Bernard.bayle 5 wikitext text/x-wiki (liens en cours de construction)<br> === Télécom Physique Strasbourg, cursus ingénieur (in French) === '''Automatique Continue, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=8485.<br> Le polycopié et les transparents projetés restent accessibles à tous, via les liens suivants : [https://seafile.unistra.fr/f/2c740d5ab345488897ef/ polycopié], [https://seafile.unistra.fr/f/7a0bf80bdfc04847bcf5/ transparents]. '''Mécatronique, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle3.unistra.fr/course/view.php?id=9125.<br> Les transparents projetés restent accessibles à tous, via le lien suivant : [https://seafile.unistra.fr/f/d707148c251c44d099b0/ Introduction robotique mobile]. '''Robotique Mobile, 3A<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=13042.<br> Les transparents d'introduction projetés ainsi que le polycopié restent accessibles à tous, via les liens suivants : [https://seafile.unistra.fr/f/51aeec4914f349f8966b/ polycopié], [https://seafile.unistra.fr/f/00e00e1e1dab426d9c26/ transparents intro].<br> '''Robotique, 2A TI Santé<br> Ce cours est désormais donné en Anglais dans une version modifiée (voir plus loin). Le polycopié précédent reste accessibles à tous, via le lien suivant : [https://seafile.unistra.fr/f/ff21b034e93045ed92cc/ Robotique - Modélisation et commande des robots manipulateurs].<br> '''Technologie des Asservissements, cours/tutoriel 3A<br> Le polycopié et les transparents projetés restent accessibles à tous, via le lien suivants : [https://seafile.unistra.fr/f/d5108828764145d0a974/ Tutoriel technologie des asservissements].<br> === Télécom Physique Strasbourg, IRIV HealthTech Master Track (in English) === '''Haptics<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=14262.<br> However material remains available to everybody with the following links: [https://seafile.unistra.fr/f/0ca6a652df4e4d61920e/ Haptic perception] (no video), [https://seafile.unistra.fr/f/610051c0f30843a992eb/ Haptic technology ] (no video).<br> '''Robotics<br> This course is now on Moodle unistra : https://moodle.unistra.fr/course/view.php?id=12927. However material remains available to everybody with the following links: <br> * Course 0. [https://seafile.unistra.fr/f/c78138a01aca47b8b19f/ Introduction to robotics] * Course 1. [https://seafile.unistra.fr/f/9ae44bc03c594e179caf/ Fundamentals of robotic modelling] * Course 2. [https://seafile.unistra.fr/f/e03953769b9045be9fe4/ Robot parameterization] * Course 3. [https://seafile.unistra.fr/f/4b6dbb2d6ff94b5c8d5e/ Robot modelling] * Course 4. [https://seafile.unistra.fr/f/20f2ce8c92af4fe69909/ Robot design] * Course 5. [https://seafile.unistra.fr/f/541eaf10049f432a8bf9/ Robot position control] * Course 6. [https://seafile.unistra.fr/f/ec99110f28b045b79d35/ Robot control technology]<br> '''Computer Aided Medical Interventions<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=12255.<br> However material remains available to everybody with the following links: [https://seafile.unistra.fr/f/30aa0ab6d77a4f6b88eb/ Introduction course] (no video), [https://seafile.unistra.fr/f/e895451fef0746a7b391/ Functionalities and methods in medical robotics] (no video).<br> d24453d210beb66b164a2a96b152be00a768c26c 111 110 2022-07-20T09:28:20Z Bernard.bayle 5 wikitext text/x-wiki (liens en cours de construction)<br> === Télécom Physique Strasbourg, cursus ingénieur (in French) === '''Automatique Continue, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=8485.<br> Le polycopié et les transparents projetés restent accessibles à tous, via les liens suivants : [https://seafile.unistra.fr/f/2c740d5ab345488897ef/ polycopié], [https://seafile.unistra.fr/f/7a0bf80bdfc04847bcf5/ transparents]. '''Mécatronique, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle3.unistra.fr/course/view.php?id=9125.<br> Les transparents projetés restent accessibles à tous, via le lien suivant : [https://seafile.unistra.fr/f/d707148c251c44d099b0/ Introduction robotique mobile]. '''Robotique, 2A TI Santé DTMI<br> Ce cours est désormais donné en Anglais dans une version modifiée (voir plus loin). Le polycopié précédent reste accessibles à tous, via le lien suivant : [https://seafile.unistra.fr/f/ff21b034e93045ed92cc/ Robotique - Modélisation et commande des robots manipulateurs].<br> '''Robotique Mobile, 3A ISAV<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=13042.<br> Les transparents d'introduction projetés ainsi que le polycopié restent accessibles à tous, via les liens suivants : [https://seafile.unistra.fr/f/51aeec4914f349f8966b/ polycopié], [https://seafile.unistra.fr/f/00e00e1e1dab426d9c26/ transparents intro].<br> '''Technologie des Asservissements, 3A ISAV<br> Le polycopié et les transparents projetés restent accessibles à tous, via le lien suivants : [https://seafile.unistra.fr/f/d5108828764145d0a974/ Tutoriel technologie des asservissements].<br> === Télécom Physique Strasbourg, IRIV HealthTech Master Track (in English) === '''Haptics<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=14262.<br> However material remains available to everybody with the following links: [https://seafile.unistra.fr/f/0ca6a652df4e4d61920e/ Haptic perception] (no video), [https://seafile.unistra.fr/f/610051c0f30843a992eb/ Haptic technology ] (no video).<br> '''Robotics<br> This course is now on Moodle unistra : https://moodle.unistra.fr/course/view.php?id=12927. However material remains available to everybody with the following links: <br> * Course 0. [https://seafile.unistra.fr/f/c78138a01aca47b8b19f/ Introduction to robotics] * Course 1. [https://seafile.unistra.fr/f/9ae44bc03c594e179caf/ Fundamentals of robotic modelling] * Course 2. [https://seafile.unistra.fr/f/e03953769b9045be9fe4/ Robot parameterization] * Course 3. [https://seafile.unistra.fr/f/4b6dbb2d6ff94b5c8d5e/ Robot modelling] * Course 4. [https://seafile.unistra.fr/f/20f2ce8c92af4fe69909/ Robot design] * Course 5. [https://seafile.unistra.fr/f/541eaf10049f432a8bf9/ Robot position control] * Course 6. [https://seafile.unistra.fr/f/ec99110f28b045b79d35/ Robot control technology]<br> '''Computer Aided Medical Interventions<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=12255.<br> However material remains available to everybody with the following links: [https://seafile.unistra.fr/f/30aa0ab6d77a4f6b88eb/ Introduction course] (no video), [https://seafile.unistra.fr/f/e895451fef0746a7b391/ Functionalities and methods in medical robotics] (no video).<br> 02803b1c3cea2c7109e6643c3f144d7d79f1c4f0 114 111 2022-07-20T09:32:08Z Bernard.bayle 5 wikitext text/x-wiki === Télécom Physique Strasbourg, cursus ingénieur (French) === '''Automatique Continue, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=8485.<br> Le polycopié et les transparents projetés restent accessibles à tous, via les liens suivants : [https://seafile.unistra.fr/f/2c740d5ab345488897ef/ polycopié], [https://seafile.unistra.fr/f/7a0bf80bdfc04847bcf5/ transparents]. '''Mécatronique, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle3.unistra.fr/course/view.php?id=9125.<br> Les transparents projetés restent accessibles à tous, via le lien suivant : [https://seafile.unistra.fr/f/d707148c251c44d099b0/ Introduction robotique mobile]. '''Robotique, 2A TI Santé DTMI<br> Ce cours est désormais donné en Anglais dans une version modifiée (voir plus loin). Le polycopié précédent reste accessibles à tous, via le lien suivant : [https://seafile.unistra.fr/f/ff21b034e93045ed92cc/ Robotique - Modélisation et commande des robots manipulateurs].<br> '''Robotique Mobile, 3A ISAV<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=13042.<br> Les transparents d'introduction projetés ainsi que le polycopié restent accessibles à tous, via les liens suivants : [https://seafile.unistra.fr/f/51aeec4914f349f8966b/ polycopié], [https://seafile.unistra.fr/f/00e00e1e1dab426d9c26/ transparents intro].<br> '''Technologie des Asservissements, 3A ISAV<br> Le polycopié et les transparents projetés restent accessibles à tous, via le lien suivants : [https://seafile.unistra.fr/f/d5108828764145d0a974/ Tutoriel technologie des asservissements].<br> === Télécom Physique Strasbourg, IRIV HealthTech Master Track (English) === '''Haptics<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=14262.<br> However material remains available to everybody with the following links: [https://seafile.unistra.fr/f/0ca6a652df4e4d61920e/ Haptic perception] (no video), [https://seafile.unistra.fr/f/610051c0f30843a992eb/ Haptic technology ] (no video).<br> '''Robotics<br> This course is now on Moodle unistra : https://moodle.unistra.fr/course/view.php?id=12927. However material remains available to everybody with the following links: <br> * Course 0. [https://seafile.unistra.fr/f/c78138a01aca47b8b19f/ Introduction to robotics] * Course 1. [https://seafile.unistra.fr/f/9ae44bc03c594e179caf/ Fundamentals of robotic modelling] * Course 2. [https://seafile.unistra.fr/f/e03953769b9045be9fe4/ Robot parameterization] * Course 3. [https://seafile.unistra.fr/f/4b6dbb2d6ff94b5c8d5e/ Robot modelling] * Course 4. [https://seafile.unistra.fr/f/20f2ce8c92af4fe69909/ Robot design] * Course 5. [https://seafile.unistra.fr/f/541eaf10049f432a8bf9/ Robot position control] * Course 6. [https://seafile.unistra.fr/f/ec99110f28b045b79d35/ Robot control technology]<br> '''Computer Aided Medical Interventions<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=12255.<br> However material remains available to everybody with the following links: [https://seafile.unistra.fr/f/30aa0ab6d77a4f6b88eb/ Introduction course] (no video), [https://seafile.unistra.fr/f/e895451fef0746a7b391/ Functionalities and methods in medical robotics] (no video).<br> 0e03bf952bafbb8595e0691b1d59427b4d211239 115 114 2022-07-20T09:32:31Z Bernard.bayle 5 /* Télécom Physique Strasbourg, IRIV HealthTech Master Track (English) */ wikitext text/x-wiki === Télécom Physique Strasbourg, cursus ingénieur (French) === '''Automatique Continue, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=8485.<br> Le polycopié et les transparents projetés restent accessibles à tous, via les liens suivants : [https://seafile.unistra.fr/f/2c740d5ab345488897ef/ polycopié], [https://seafile.unistra.fr/f/7a0bf80bdfc04847bcf5/ transparents]. '''Mécatronique, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle3.unistra.fr/course/view.php?id=9125.<br> Les transparents projetés restent accessibles à tous, via le lien suivant : [https://seafile.unistra.fr/f/d707148c251c44d099b0/ Introduction robotique mobile]. '''Robotique, 2A TI Santé DTMI<br> Ce cours est désormais donné en Anglais dans une version modifiée (voir plus loin). Le polycopié précédent reste accessibles à tous, via le lien suivant : [https://seafile.unistra.fr/f/ff21b034e93045ed92cc/ Robotique - Modélisation et commande des robots manipulateurs].<br> '''Robotique Mobile, 3A ISAV<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=13042.<br> Les transparents d'introduction projetés ainsi que le polycopié restent accessibles à tous, via les liens suivants : [https://seafile.unistra.fr/f/51aeec4914f349f8966b/ polycopié], [https://seafile.unistra.fr/f/00e00e1e1dab426d9c26/ transparents intro].<br> '''Technologie des Asservissements, 3A ISAV<br> Le polycopié et les transparents projetés restent accessibles à tous, via le lien suivants : [https://seafile.unistra.fr/f/d5108828764145d0a974/ Tutoriel technologie des asservissements].<br> === Télécom Physique Strasbourg, IRIV HealthTech Master Track (English) === '''Haptics<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=14262.<br> However material remains available to everybody with the following links: [https://seafile.unistra.fr/f/0ca6a652df4e4d61920e/ Haptic perception] (no video), [https://seafile.unistra.fr/f/610051c0f30843a992eb/ Haptic technology ] (no video).<br> '''Robotics<br> This course is now on Moodle unistra : https://moodle.unistra.fr/course/view.php?id=12927. However material remains available to everybody with the following links: <br> * Course 0. [https://seafile.unistra.fr/f/c78138a01aca47b8b19f/ Introduction to robotics] * Course 1. [https://seafile.unistra.fr/f/9ae44bc03c594e179caf/ Fundamentals of robotic modelling] * Course 2. [https://seafile.unistra.fr/f/e03953769b9045be9fe4/ Robot parameterization] * Course 3. [https://seafile.unistra.fr/f/4b6dbb2d6ff94b5c8d5e/ Robot modelling] * Course 4. [https://seafile.unistra.fr/f/20f2ce8c92af4fe69909/ Robot design] * Course 5. [https://seafile.unistra.fr/f/541eaf10049f432a8bf9/ Robot position control] * Course 6. [https://seafile.unistra.fr/f/ec99110f28b045b79d35/ Robot control technology]<br> '''Computer Aided Medical Interventions<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=12255.<br> However material remains available to everybody with the following links: [https://seafile.unistra.fr/f/30aa0ab6d77a4f6b88eb/ Introduction course] (no video), [https://seafile.unistra.fr/f/e895451fef0746a7b391/ Functionalities and methods in medical robotics] (no video).<br> 6f8f288d06be8900230c805277461ff413f723c9 116 115 2022-07-20T09:32:39Z Bernard.bayle 5 /* Télécom Physique Strasbourg, cursus ingénieur (French) */ wikitext text/x-wiki === Télécom Physique Strasbourg, cursus ingénieur (French) === '''Automatique Continue, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=8485.<br> Le polycopié et les transparents projetés restent accessibles à tous, via les liens suivants : [https://seafile.unistra.fr/f/2c740d5ab345488897ef/ polycopié], [https://seafile.unistra.fr/f/7a0bf80bdfc04847bcf5/ transparents]. '''Mécatronique, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle3.unistra.fr/course/view.php?id=9125.<br> Les transparents projetés restent accessibles à tous, via le lien suivant : [https://seafile.unistra.fr/f/d707148c251c44d099b0/ Introduction robotique mobile]. '''Robotique, 2A TI Santé DTMI<br> Ce cours est désormais donné en Anglais dans une version modifiée (voir plus loin). Le polycopié précédent reste accessibles à tous, via le lien suivant : [https://seafile.unistra.fr/f/ff21b034e93045ed92cc/ Robotique - Modélisation et commande des robots manipulateurs].<br> '''Robotique Mobile, 3A ISAV<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=13042.<br> Les transparents d'introduction projetés ainsi que le polycopié restent accessibles à tous, via les liens suivants : [https://seafile.unistra.fr/f/51aeec4914f349f8966b/ polycopié], [https://seafile.unistra.fr/f/00e00e1e1dab426d9c26/ transparents intro].<br> '''Technologie des Asservissements, 3A ISAV<br> Le polycopié et les transparents projetés restent accessibles à tous, via le lien suivants : [https://seafile.unistra.fr/f/d5108828764145d0a974/ Tutoriel technologie des asservissements].<br> === Télécom Physique Strasbourg, IRIV HealthTech Master Track (English) === '''Haptics<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=14262.<br> However material remains available to everybody with the following links: [https://seafile.unistra.fr/f/0ca6a652df4e4d61920e/ Haptic perception] (no video), [https://seafile.unistra.fr/f/610051c0f30843a992eb/ Haptic technology ] (no video).<br> '''Robotics<br> This course is now on Moodle unistra : https://moodle.unistra.fr/course/view.php?id=12927. However material remains available to everybody with the following links: <br> * Course 0. [https://seafile.unistra.fr/f/c78138a01aca47b8b19f/ Introduction to robotics] * Course 1. [https://seafile.unistra.fr/f/9ae44bc03c594e179caf/ Fundamentals of robotic modelling] * Course 2. [https://seafile.unistra.fr/f/e03953769b9045be9fe4/ Robot parameterization] * Course 3. [https://seafile.unistra.fr/f/4b6dbb2d6ff94b5c8d5e/ Robot modelling] * Course 4. [https://seafile.unistra.fr/f/20f2ce8c92af4fe69909/ Robot design] * Course 5. [https://seafile.unistra.fr/f/541eaf10049f432a8bf9/ Robot position control] * Course 6. [https://seafile.unistra.fr/f/ec99110f28b045b79d35/ Robot control technology]<br> '''Computer Aided Medical Interventions<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=12255.<br> However material remains available to everybody with the following links: [https://seafile.unistra.fr/f/30aa0ab6d77a4f6b88eb/ Introduction course] (no video), [https://seafile.unistra.fr/f/e895451fef0746a7b391/ Functionalities and methods in medical robotics] (no video).<br> 1d8593c334310fc6175709ac3d0d21807c67eec2 117 116 2022-07-20T09:33:21Z Bernard.bayle 5 /* Télécom Physique Strasbourg, cursus ingénieur (French) */ wikitext text/x-wiki === Télécom Physique Strasbourg, cursus ingénieur (French) === '''Automatique Continue, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=8485.<br> Le polycopié et les transparents projetés restent accessibles à tous, via les liens suivants : [https://seafile.unistra.fr/f/2c740d5ab345488897ef/ polycopié], [https://seafile.unistra.fr/f/7a0bf80bdfc04847bcf5/ transparents]. '''Mécatronique, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle3.unistra.fr/course/view.php?id=9125.<br> Les transparents projetés restent accessibles à tous, via le lien suivant : [https://seafile.unistra.fr/f/d707148c251c44d099b0/ Introduction robotique mobile]. '''Robotique, 2A TI Santé DTMI<br> Ce cours est désormais donné en Anglais dans une version modifiée (voir plus loin). Le polycopié précédent reste accessibles à tous, via le lien suivant : [https://seafile.unistra.fr/f/ff21b034e93045ed92cc/ Robotique - Modélisation et commande des robots manipulateurs].<br> '''Robotique Mobile, 3A ISAV<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=13042.<br> Les transparents d'introduction projetés ainsi que le polycopié restent accessibles à tous, via les liens suivants : [https://seafile.unistra.fr/f/51aeec4914f349f8966b/ polycopié], [https://seafile.unistra.fr/f/00e00e1e1dab426d9c26/ transparents intro].<br> '''Technologie des Asservissements, 3A ISAV<br> Le polycopié et les transparents projetés restent accessibles à tous, via le lien suivants : [https://seafile.unistra.fr/f/d5108828764145d0a974/ Tutoriel technologie des asservissements].<br> === Télécom Physique Strasbourg, IRIV HealthTech Master Track (English) === '''Haptics<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=14262.<br> However material remains available to everybody with the following links: [https://seafile.unistra.fr/f/0ca6a652df4e4d61920e/ Haptic perception] (no video), [https://seafile.unistra.fr/f/610051c0f30843a992eb/ Haptic technology ] (no video).<br> '''Robotics<br> This course is now on Moodle unistra : https://moodle.unistra.fr/course/view.php?id=12927. However material remains available to everybody with the following links: <br> * Course 0. [https://seafile.unistra.fr/f/c78138a01aca47b8b19f/ Introduction to robotics] * Course 1. [https://seafile.unistra.fr/f/9ae44bc03c594e179caf/ Fundamentals of robotic modelling] * Course 2. [https://seafile.unistra.fr/f/e03953769b9045be9fe4/ Robot parameterization] * Course 3. [https://seafile.unistra.fr/f/4b6dbb2d6ff94b5c8d5e/ Robot modelling] * Course 4. [https://seafile.unistra.fr/f/20f2ce8c92af4fe69909/ Robot design] * Course 5. [https://seafile.unistra.fr/f/541eaf10049f432a8bf9/ Robot position control] * Course 6. [https://seafile.unistra.fr/f/ec99110f28b045b79d35/ Robot control technology]<br> '''Computer Aided Medical Interventions<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=12255.<br> However material remains available to everybody with the following links: [https://seafile.unistra.fr/f/30aa0ab6d77a4f6b88eb/ Introduction course] (no video), [https://seafile.unistra.fr/f/e895451fef0746a7b391/ Functionalities and methods in medical robotics] (no video).<br> 3cb16c45abc82d75bcb2cccbde23e46f470df33e 118 117 2022-07-20T09:33:55Z Bernard.bayle 5 wikitext text/x-wiki === Télécom Physique Strasbourg, cursus ingénieur (French) === '''Automatique Continue, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=8485.<br> Le polycopié et les transparents projetés restent accessibles à tous, via les liens suivants : [https://seafile.unistra.fr/f/2c740d5ab345488897ef/ polycopié], [https://seafile.unistra.fr/f/7a0bf80bdfc04847bcf5/ transparents]. '''Mécatronique, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle3.unistra.fr/course/view.php?id=9125.<br> Les transparents projetés restent accessibles à tous, via le lien suivant : [https://seafile.unistra.fr/f/d707148c251c44d099b0/ Introduction robotique mobile]. '''Robotique, 2A TI Santé DTMI<br> Ce cours est désormais donné en Anglais dans une version modifiée (voir plus loin). Le polycopié précédent reste accessibles à tous, via le lien suivant : [https://seafile.unistra.fr/f/ff21b034e93045ed92cc/ Robotique - Modélisation et commande des robots manipulateurs].<br> '''Robotique Mobile, 3A ISAV<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=13042.<br> Les transparents d'introduction projetés ainsi que le polycopié restent accessibles à tous, via les liens suivants : [https://seafile.unistra.fr/f/51aeec4914f349f8966b/ polycopié], [https://seafile.unistra.fr/f/00e00e1e1dab426d9c26/ transparents intro].<br> '''Technologie des Asservissements, 3A ISAV<br> Le polycopié et les transparents projetés restent accessibles à tous, via le lien suivants : [https://seafile.unistra.fr/f/d5108828764145d0a974/ Tutoriel technologie des asservissements].<br> === Télécom Physique Strasbourg, IRIV HealthTech Master Track (English) === '''Haptics<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=14262.<br> However material remains available to everybody with the following links: [https://seafile.unistra.fr/f/0ca6a652df4e4d61920e/ Haptic perception] (no video), [https://seafile.unistra.fr/f/610051c0f30843a992eb/ Haptic technology ] (no video).<br> '''Robotics<br> This course is now on Moodle unistra : https://moodle.unistra.fr/course/view.php?id=12927. However material remains available to everybody with the following links: <br> * Course 0. [https://seafile.unistra.fr/f/c78138a01aca47b8b19f/ Introduction to robotics] * Course 1. [https://seafile.unistra.fr/f/9ae44bc03c594e179caf/ Fundamentals of robotic modelling] * Course 2. [https://seafile.unistra.fr/f/e03953769b9045be9fe4/ Robot parameterization] * Course 3. [https://seafile.unistra.fr/f/4b6dbb2d6ff94b5c8d5e/ Robot modelling] * Course 4. [https://seafile.unistra.fr/f/20f2ce8c92af4fe69909/ Robot design] * Course 5. [https://seafile.unistra.fr/f/541eaf10049f432a8bf9/ Robot position control] * Course 6. [https://seafile.unistra.fr/f/ec99110f28b045b79d35/ Robot control technology]<br> '''Computer Aided Medical Interventions<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=12255.<br> However material remains available to everybody with the following links: [https://seafile.unistra.fr/f/30aa0ab6d77a4f6b88eb/ Introduction course] (no video), [https://seafile.unistra.fr/f/e895451fef0746a7b391/ Functionalities and methods in medical robotics] (no video).<br> 88ca0ad5b4a19e3fe321909a3d18be3523fa55b6 124 118 2022-07-25T14:25:23Z Bernard.bayle 5 /* Télécom Physique Strasbourg, cursus ingénieur (French) */ wikitext text/x-wiki === Télécom Physique Strasbourg, cursus ingénieur (French) === '''Automatique Continue, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=8485.<br> Le polycopié et les transparents projetés restent accessibles à tous, via les liens suivants : [https://seafile.unistra.fr/f/2c740d5ab345488897ef/ polycopié], [https://seafile.unistra.fr/f/7a0bf80bdfc04847bcf5/ transparents]. '''Mécatronique, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle3.unistra.fr/course/view.php?id=9125.<br> Les transparents projetés restent accessibles à tous, via le lien suivant : [https://moodle.unistra.fr/course/view.php?id=13254/ Introduction robotique mobile]. '''Robotique, 2A TI Santé DTMI<br> Ce cours est désormais donné en Anglais dans une version modifiée (voir plus loin). Le polycopié précédent reste accessibles à tous, via le lien suivant : [https://seafile.unistra.fr/f/ff21b034e93045ed92cc/ Robotique - Modélisation et commande des robots manipulateurs].<br> '''Robotique Mobile, 3A ISAV<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=13042.<br> Les transparents d'introduction projetés ainsi que le polycopié restent accessibles à tous, via les liens suivants : [https://seafile.unistra.fr/f/51aeec4914f349f8966b/ polycopié], [https://seafile.unistra.fr/f/00e00e1e1dab426d9c26/ transparents intro].<br> '''Technologie des Asservissements, 3A ISAV<br> Le polycopié et les transparents projetés restent accessibles à tous, via le lien suivants : [https://seafile.unistra.fr/f/d5108828764145d0a974/ Tutoriel technologie des asservissements].<br> === Télécom Physique Strasbourg, IRIV HealthTech Master Track (English) === '''Haptics<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=14262.<br> However material remains available to everybody with the following links: [https://seafile.unistra.fr/f/0ca6a652df4e4d61920e/ Haptic perception] (no video), [https://seafile.unistra.fr/f/610051c0f30843a992eb/ Haptic technology ] (no video).<br> '''Robotics<br> This course is now on Moodle unistra : https://moodle.unistra.fr/course/view.php?id=12927. However material remains available to everybody with the following links: <br> * Course 0. [https://seafile.unistra.fr/f/c78138a01aca47b8b19f/ Introduction to robotics] * Course 1. [https://seafile.unistra.fr/f/9ae44bc03c594e179caf/ Fundamentals of robotic modelling] * Course 2. [https://seafile.unistra.fr/f/e03953769b9045be9fe4/ Robot parameterization] * Course 3. [https://seafile.unistra.fr/f/4b6dbb2d6ff94b5c8d5e/ Robot modelling] * Course 4. [https://seafile.unistra.fr/f/20f2ce8c92af4fe69909/ Robot design] * Course 5. [https://seafile.unistra.fr/f/541eaf10049f432a8bf9/ Robot position control] * Course 6. [https://seafile.unistra.fr/f/ec99110f28b045b79d35/ Robot control technology]<br> '''Computer Aided Medical Interventions<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=12255.<br> However material remains available to everybody with the following links: [https://seafile.unistra.fr/f/30aa0ab6d77a4f6b88eb/ Introduction course] (no video), [https://seafile.unistra.fr/f/e895451fef0746a7b391/ Functionalities and methods in medical robotics] (no video).<br> a5eb06b0aa94174ef7d69c66bdeddd01ea831ae0 125 124 2022-07-25T14:26:36Z Bernard.bayle 5 /* Télécom Physique Strasbourg, cursus ingénieur (French) */ wikitext text/x-wiki === Télécom Physique Strasbourg, cursus ingénieur (French) === '''Automatique Continue, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=8485.<br> Le polycopié et les transparents projetés restent accessibles à tous, via les liens suivants : [https://seafile.unistra.fr/f/2c740d5ab345488897ef/ polycopié], [https://seafile.unistra.fr/f/7a0bf80bdfc04847bcf5/ transparents]. '''Mécatronique, 1A<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=13254.<br> Les transparents projetés restent accessibles à tous, via le lien suivant : [https://seafile.unistra.fr/f/d707148c251c44d099b0/ Introduction robotique mobile]. '''Robotique, 2A TI Santé DTMI<br> Ce cours est désormais donné en Anglais dans une version modifiée (voir plus loin). Le polycopié précédent reste accessibles à tous, via le lien suivant : [https://seafile.unistra.fr/f/ff21b034e93045ed92cc/ Robotique - Modélisation et commande des robots manipulateurs].<br> '''Robotique Mobile, 3A ISAV<br> Ce cours est maintenant sur Moodle unistra : https://moodle.unistra.fr/course/view.php?id=13042.<br> Les transparents d'introduction projetés ainsi que le polycopié restent accessibles à tous, via les liens suivants : [https://seafile.unistra.fr/f/51aeec4914f349f8966b/ polycopié], [https://seafile.unistra.fr/f/00e00e1e1dab426d9c26/ transparents intro].<br> '''Technologie des Asservissements, 3A ISAV<br> Le polycopié et les transparents projetés restent accessibles à tous, via le lien suivants : [https://seafile.unistra.fr/f/d5108828764145d0a974/ Tutoriel technologie des asservissements].<br> === Télécom Physique Strasbourg, IRIV HealthTech Master Track (English) === '''Haptics<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=14262.<br> However material remains available to everybody with the following links: [https://seafile.unistra.fr/f/0ca6a652df4e4d61920e/ Haptic perception] (no video), [https://seafile.unistra.fr/f/610051c0f30843a992eb/ Haptic technology ] (no video).<br> '''Robotics<br> This course is now on Moodle unistra : https://moodle.unistra.fr/course/view.php?id=12927. However material remains available to everybody with the following links: <br> * Course 0. [https://seafile.unistra.fr/f/c78138a01aca47b8b19f/ Introduction to robotics] * Course 1. [https://seafile.unistra.fr/f/9ae44bc03c594e179caf/ Fundamentals of robotic modelling] * Course 2. [https://seafile.unistra.fr/f/e03953769b9045be9fe4/ Robot parameterization] * Course 3. [https://seafile.unistra.fr/f/4b6dbb2d6ff94b5c8d5e/ Robot modelling] * Course 4. [https://seafile.unistra.fr/f/20f2ce8c92af4fe69909/ Robot design] * Course 5. [https://seafile.unistra.fr/f/541eaf10049f432a8bf9/ Robot position control] * Course 6. [https://seafile.unistra.fr/f/ec99110f28b045b79d35/ Robot control technology]<br> '''Computer Aided Medical Interventions<br> This course is now on Moodle unistra: https://moodle.unistra.fr/course/view.php?id=12255.<br> However material remains available to everybody with the following links: [https://seafile.unistra.fr/f/30aa0ab6d77a4f6b88eb/ Introduction course] (no video), [https://seafile.unistra.fr/f/e895451fef0746a7b391/ Functionalities and methods in medical robotics] (no video).<br> 9e39101f26c0865052f07c567de773ded7015987 0 23 112 98 2022-07-20T09:29:28Z Bernard.bayle 5 /* Teaching */ wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || @IHU de Strasbourg<br> Bernard BAYLE <br> IHU de Strasbourg, RDH/ICube<br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel. : +33 3 90 41 35 46 |} === Research === I head the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] (formerly Automatic control, computer Vision and Robotics) of the ICube laboratory. I am also the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. Most of my current research activities is dedicated to robot design and control involving physical human-robot interactions, with robot assistance to medical interventions as the main application field. [https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu Publications] <br> [[PhD_supervisions_B._Bayle|PhD supervision]] === Teaching === Professor at [https://www.telecom-physique.fr/ Télécom Physique Strasbourg], I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[Teaching_B._Bayle|'''here''']]. 8da09f556119a4d26be97a8a9e30b8c3c927fd5a 113 112 2022-07-20T09:29:40Z Bernard.bayle 5 /* Teaching */ wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || @IHU de Strasbourg<br> Bernard BAYLE <br> IHU de Strasbourg, RDH/ICube<br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel. : +33 3 90 41 35 46 |} === Research === I head the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] (formerly Automatic control, computer Vision and Robotics) of the ICube laboratory. I am also the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. Most of my current research activities is dedicated to robot design and control involving physical human-robot interactions, with robot assistance to medical interventions as the main application field. [https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu Publications] <br> [[PhD_supervisions_B._Bayle|PhD supervision]] === Teaching === Professor at [https://www.telecom-physique.fr/ Télécom Physique Strasbourg], I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[Teaching_B._Bayle|'''here''']]. 6ecdf1f65bd13fe82c93446e863fae1f9cb4e8d3 120 113 2022-07-20T09:58:49Z Bernard.bayle 5 wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || @IHU de Strasbourg<br> Bernard BAYLE <br> IHU de Strasbourg, RDH/ICube<br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel. : +33 3 90 41 35 46 |} === Research === I head the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] (formerly Automatic control, computer Vision and Robotics) of the ICube laboratory. I am also the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. My current research activities are dedicated to physical human-robot interactions, with robot assistance to medical interventions as the main application field. [https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu Publications] <br> [[PhD_supervisions_B._Bayle|PhD supervision]] === Teaching === Professor at [https://www.telecom-physique.fr/ Télécom Physique Strasbourg], I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[Teaching_B._Bayle|'''here''']]. 0635f7e04dd3b9a6b53e1559749e3a66df4db30e 0 7 119 103 2022-07-20T09:53:51Z Bernard.bayle 5 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 500px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. It emphasizes research recognized at the best international level, in particular in medical robotics and data science for health: * '''Medical Robotics and Interventional Imaging''' gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''Learning, modeling and data science''' gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''Complex systems and parsimony''' gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div style="position: relative; height: 1%;">[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> </div> 1aeee462b46dd405aa21916feb6e4d3036887aa6 0 9 121 64 2022-07-20T09:59:35Z Bernard.bayle 5 wikitext text/x-wiki Under construction. 3c76a4e2dd60519be854a918cc0e3ad6c039cd1d 0 10 122 65 2022-07-20T09:59:49Z Bernard.bayle 5 wikitext text/x-wiki Under construction. 3c76a4e2dd60519be854a918cc0e3ad6c039cd1d 0 15 123 66 2022-07-20T09:59:58Z Bernard.bayle 5 wikitext text/x-wiki Under construction. 3c76a4e2dd60519be854a918cc0e3ad6c039cd1d 0 28 126 2022-07-25T14:30:25Z Jacques.gangloff 11 Created page with "[[en:Jacques Gangloff's personal webpage]] [[Image:Jacques.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.ga..." wikitext text/x-wiki [[en:Jacques Gangloff's personal webpage]] [[Image:Jacques.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA Chaine YouTube] * Twitter : [https://twitter.com/JacquesGangloff?lang=fr @JacquesGangloff] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Skype : jacques.gangloff * Téléphone : 03 67 10 61 79 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C132 * Adresse perso : région de Strasbourg =Curriculum Vitae= * 1969 : Année de naissance * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS). * 1994 : Intégration de l'ENS de Cachan. * 1995 : Agrégation de génie électrique. * 1996 : DEA de photonique et image. * 1999 : Thèse de doctorat. * 2000 : Maître de conférences. * 2004 : Habilitation à diriger les recherches. * 2005 : Professeur des universités. =Certificats d'authenticité= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. [[Fichier:Certificat_cropped.png|thumb|left|300px|Exemple de certificat]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats] <br style="clear: both" /> =Responsabilités= * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] depuis 2017. * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [[Master_ISTI_AR|parcours AR]] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg. == Responsabilités antérieures == * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[[Option_3A_ISAV|option ISAV]] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours de commande prédictive ** Cours d'informatique temps-réel ** Cours de technologie des asservissements ** Cours de technologies vertes == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] =Recherche= ==Thématiques== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [http://icube-avr.unistra.fr/fr/index.php/ANR_DexterWide Robotique parallèle à câbles] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [http://icube-avr.unistra.fr/fr/index.php/Raspberry_Pi_Simulink_Coder_target_(RPIt) RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode". <youtube>https://www.youtube.com/watch?v=jnNS4pmAGkk</youtube> * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> d1d530db74dba9d8463da1d75f2a0fd377578634 137 126 2022-07-25T14:40:39Z Jacques.gangloff 11 /* Responsabilités antérieures */ wikitext text/x-wiki [[en:Jacques Gangloff's personal webpage]] [[Image:Jacques.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA Chaine YouTube] * Twitter : [https://twitter.com/JacquesGangloff?lang=fr @JacquesGangloff] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Skype : jacques.gangloff * Téléphone : 03 67 10 61 79 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C132 * Adresse perso : région de Strasbourg =Curriculum Vitae= * 1969 : Année de naissance * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS). * 1994 : Intégration de l'ENS de Cachan. * 1995 : Agrégation de génie électrique. * 1996 : DEA de photonique et image. * 1999 : Thèse de doctorat. * 2000 : Maître de conférences. * 2004 : Habilitation à diriger les recherches. * 2005 : Professeur des universités. =Certificats d'authenticité= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. [[Fichier:Certificat_cropped.png|thumb|left|300px|Exemple de certificat]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats] <br style="clear: both" /> =Responsabilités= * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] depuis 2017. * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [[Master_ISTI_AR|parcours AR]] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg. == Responsabilités antérieures == * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours de commande prédictive ** Cours d'informatique temps-réel ** Cours de technologie des asservissements ** Cours de technologies vertes == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] =Recherche= ==Thématiques== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [http://icube-avr.unistra.fr/fr/index.php/ANR_DexterWide Robotique parallèle à câbles] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [http://icube-avr.unistra.fr/fr/index.php/Raspberry_Pi_Simulink_Coder_target_(RPIt) RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode". <youtube>https://www.youtube.com/watch?v=jnNS4pmAGkk</youtube> * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> ad41798b866483cbe191a58be0299408688cf432 138 137 2022-07-25T14:41:16Z Jacques.gangloff 11 /* Responsabilités */ wikitext text/x-wiki [[en:Jacques Gangloff's personal webpage]] [[Image:Jacques.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA Chaine YouTube] * Twitter : [https://twitter.com/JacquesGangloff?lang=fr @JacquesGangloff] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Skype : jacques.gangloff * Téléphone : 03 67 10 61 79 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C132 * Adresse perso : région de Strasbourg =Curriculum Vitae= * 1969 : Année de naissance * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS). * 1994 : Intégration de l'ENS de Cachan. * 1995 : Agrégation de génie électrique. * 1996 : DEA de photonique et image. * 1999 : Thèse de doctorat. * 2000 : Maître de conférences. * 2004 : Habilitation à diriger les recherches. * 2005 : Professeur des universités. =Certificats d'authenticité= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. [[Fichier:Certificat_cropped.png|thumb|left|300px|Exemple de certificat]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats] <br style="clear: both" /> =Responsabilités= * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] depuis 2017. * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg. == Responsabilités antérieures == * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours de commande prédictive ** Cours d'informatique temps-réel ** Cours de technologie des asservissements ** Cours de technologies vertes == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] =Recherche= ==Thématiques== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [http://icube-avr.unistra.fr/fr/index.php/ANR_DexterWide Robotique parallèle à câbles] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [http://icube-avr.unistra.fr/fr/index.php/Raspberry_Pi_Simulink_Coder_target_(RPIt) RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode". <youtube>https://www.youtube.com/watch?v=jnNS4pmAGkk</youtube> * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 3eb73aa84bf5d7cedd64dd0bac5d06c5ab7876b8 139 138 2022-07-25T14:42:26Z Jacques.gangloff 11 /* Certificats d'authenticité */ wikitext text/x-wiki [[en:Jacques Gangloff's personal webpage]] [[Image:Jacques.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA Chaine YouTube] * Twitter : [https://twitter.com/JacquesGangloff?lang=fr @JacquesGangloff] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Skype : jacques.gangloff * Téléphone : 03 67 10 61 79 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C132 * Adresse perso : région de Strasbourg =Curriculum Vitae= * 1969 : Année de naissance * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS). * 1994 : Intégration de l'ENS de Cachan. * 1995 : Agrégation de génie électrique. * 1996 : DEA de photonique et image. * 1999 : Thèse de doctorat. * 2000 : Maître de conférences. * 2004 : Habilitation à diriger les recherches. * 2005 : Professeur des universités. =Certificats d'authenticité= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. [[Certi_exemple.png|thumb|left|Exemple de certificat]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats] <br style="clear: both" /> =Responsabilités= * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] depuis 2017. * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg. == Responsabilités antérieures == * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours de commande prédictive ** Cours d'informatique temps-réel ** Cours de technologie des asservissements ** Cours de technologies vertes == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] =Recherche= ==Thématiques== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [http://icube-avr.unistra.fr/fr/index.php/ANR_DexterWide Robotique parallèle à câbles] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [http://icube-avr.unistra.fr/fr/index.php/Raspberry_Pi_Simulink_Coder_target_(RPIt) RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode". <youtube>https://www.youtube.com/watch?v=jnNS4pmAGkk</youtube> * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> b950c57cb7b025424910f933250dc9503a3beb94 140 139 2022-07-25T14:43:17Z Jacques.gangloff 11 /* Certificats d'authenticité */ wikitext text/x-wiki [[en:Jacques Gangloff's personal webpage]] [[Image:Jacques.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA Chaine YouTube] * Twitter : [https://twitter.com/JacquesGangloff?lang=fr @JacquesGangloff] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Skype : jacques.gangloff * Téléphone : 03 67 10 61 79 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C132 * Adresse perso : région de Strasbourg =Curriculum Vitae= * 1969 : Année de naissance * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS). * 1994 : Intégration de l'ENS de Cachan. * 1995 : Agrégation de génie électrique. * 1996 : DEA de photonique et image. * 1999 : Thèse de doctorat. * 2000 : Maître de conférences. * 2004 : Habilitation à diriger les recherches. * 2005 : Professeur des universités. =Certificats d'authenticité= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. [[Image:Jacques.jpg|thumb|left|200px|Exemple de certificat]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats] <br style="clear: both" /> =Responsabilités= * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] depuis 2017. * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg. == Responsabilités antérieures == * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours de commande prédictive ** Cours d'informatique temps-réel ** Cours de technologie des asservissements ** Cours de technologies vertes == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] =Recherche= ==Thématiques== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [http://icube-avr.unistra.fr/fr/index.php/ANR_DexterWide Robotique parallèle à câbles] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [http://icube-avr.unistra.fr/fr/index.php/Raspberry_Pi_Simulink_Coder_target_(RPIt) RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode". <youtube>https://www.youtube.com/watch?v=jnNS4pmAGkk</youtube> * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 77495f39c7045188fbf25888df2436405893008b 141 140 2022-07-25T14:43:45Z Jacques.gangloff 11 /* Certificats d'authenticité */ wikitext text/x-wiki [[en:Jacques Gangloff's personal webpage]] [[Image:Jacques.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA Chaine YouTube] * Twitter : [https://twitter.com/JacquesGangloff?lang=fr @JacquesGangloff] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Skype : jacques.gangloff * Téléphone : 03 67 10 61 79 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C132 * Adresse perso : région de Strasbourg =Curriculum Vitae= * 1969 : Année de naissance * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS). * 1994 : Intégration de l'ENS de Cachan. * 1995 : Agrégation de génie électrique. * 1996 : DEA de photonique et image. * 1999 : Thèse de doctorat. * 2000 : Maître de conférences. * 2004 : Habilitation à diriger les recherches. * 2005 : Professeur des universités. =Certificats d'authenticité= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. [[Image:cert_ex.png|thumb|left|200px|Exemple de certificat]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats] <br style="clear: both" /> =Responsabilités= * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] depuis 2017. * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg. == Responsabilités antérieures == * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours de commande prédictive ** Cours d'informatique temps-réel ** Cours de technologie des asservissements ** Cours de technologies vertes == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] =Recherche= ==Thématiques== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [http://icube-avr.unistra.fr/fr/index.php/ANR_DexterWide Robotique parallèle à câbles] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [http://icube-avr.unistra.fr/fr/index.php/Raspberry_Pi_Simulink_Coder_target_(RPIt) RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode". <youtube>https://www.youtube.com/watch?v=jnNS4pmAGkk</youtube> * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> b5ed000edcf9bb8e2b38099ad70d7f6d987bcc02 143 141 2022-07-25T14:45:47Z Jacques.gangloff 11 /* Certificats d'authenticité */ wikitext text/x-wiki [[en:Jacques Gangloff's personal webpage]] [[Image:Jacques.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA Chaine YouTube] * Twitter : [https://twitter.com/JacquesGangloff?lang=fr @JacquesGangloff] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Skype : jacques.gangloff * Téléphone : 03 67 10 61 79 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C132 * Adresse perso : région de Strasbourg =Curriculum Vitae= * 1969 : Année de naissance * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS). * 1994 : Intégration de l'ENS de Cachan. * 1995 : Agrégation de génie électrique. * 1996 : DEA de photonique et image. * 1999 : Thèse de doctorat. * 2000 : Maître de conférences. * 2004 : Habilitation à diriger les recherches. * 2005 : Professeur des universités. =Certificats d'authenticité= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. [[Image:certexemple.png|thumb|left|200px|Exemple de certificat]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats] <br style="clear: both" /> =Responsabilités= * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] depuis 2017. * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg. == Responsabilités antérieures == * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours de commande prédictive ** Cours d'informatique temps-réel ** Cours de technologie des asservissements ** Cours de technologies vertes == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] =Recherche= ==Thématiques== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [http://icube-avr.unistra.fr/fr/index.php/ANR_DexterWide Robotique parallèle à câbles] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [http://icube-avr.unistra.fr/fr/index.php/Raspberry_Pi_Simulink_Coder_target_(RPIt) RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode". <youtube>https://www.youtube.com/watch?v=jnNS4pmAGkk</youtube> * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 0840552856bd972bd480e91530737193388e9f94 145 143 2022-07-25T14:47:43Z Jacques.gangloff 11 /* Certificats d'authenticité */ wikitext text/x-wiki [[en:Jacques Gangloff's personal webpage]] [[Image:Jacques.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA Chaine YouTube] * Twitter : [https://twitter.com/JacquesGangloff?lang=fr @JacquesGangloff] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Skype : jacques.gangloff * Téléphone : 03 67 10 61 79 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C132 * Adresse perso : région de Strasbourg =Curriculum Vitae= * 1969 : Année de naissance * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS). * 1994 : Intégration de l'ENS de Cachan. * 1995 : Agrégation de génie électrique. * 1996 : DEA de photonique et image. * 1999 : Thèse de doctorat. * 2000 : Maître de conférences. * 2004 : Habilitation à diriger les recherches. * 2005 : Professeur des universités. =Certificats d'authenticité= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats] <br style="clear: both" /> =Responsabilités= * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] depuis 2017. * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg. == Responsabilités antérieures == * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours de commande prédictive ** Cours d'informatique temps-réel ** Cours de technologie des asservissements ** Cours de technologies vertes == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] =Recherche= ==Thématiques== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [http://icube-avr.unistra.fr/fr/index.php/ANR_DexterWide Robotique parallèle à câbles] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [http://icube-avr.unistra.fr/fr/index.php/Raspberry_Pi_Simulink_Coder_target_(RPIt) RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode". <youtube>https://www.youtube.com/watch?v=jnNS4pmAGkk</youtube> * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 5061ba2faf825482b226f363aa014bbef23f604a 147 145 2022-07-25T14:49:45Z Jacques.gangloff 11 wikitext text/x-wiki [[Image:Jacques.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA Chaine YouTube] * Twitter : [https://twitter.com/JacquesGangloff?lang=fr @JacquesGangloff] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Skype : jacques.gangloff * Téléphone : 03 67 10 61 79 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C132 * Adresse perso : région de Strasbourg =Curriculum Vitae= * 1969 : Année de naissance * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS). * 1994 : Intégration de l'ENS de Cachan. * 1995 : Agrégation de génie électrique. * 1996 : DEA de photonique et image. * 1999 : Thèse de doctorat. * 2000 : Maître de conférences. * 2004 : Habilitation à diriger les recherches. * 2005 : Professeur des universités. =Certificats d'authenticité= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats] <br style="clear: both" /> =Responsabilités= * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] depuis 2017. * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg. == Responsabilités antérieures == * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours de commande prédictive ** Cours d'informatique temps-réel ** Cours de technologie des asservissements ** Cours de technologies vertes == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] =Recherche= ==Thématiques== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [http://icube-avr.unistra.fr/fr/index.php/ANR_DexterWide Robotique parallèle à câbles] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [http://icube-avr.unistra.fr/fr/index.php/Raspberry_Pi_Simulink_Coder_target_(RPIt) RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode". <youtube>https://www.youtube.com/watch?v=jnNS4pmAGkk</youtube> * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> a21053e35f9a1f8ce2b23c6da30685e3793337b5 148 147 2022-07-25T15:06:07Z Jacques.gangloff 11 /* Responsabilités */ wikitext text/x-wiki [[Image:Jacques.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA Chaine YouTube] * Twitter : [https://twitter.com/JacquesGangloff?lang=fr @JacquesGangloff] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Skype : jacques.gangloff * Téléphone : 03 67 10 61 79 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C132 * Adresse perso : région de Strasbourg =Curriculum Vitae= * 1969 : Année de naissance * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS). * 1994 : Intégration de l'ENS de Cachan. * 1995 : Agrégation de génie électrique. * 1996 : DEA de photonique et image. * 1999 : Thèse de doctorat. * 2000 : Maître de conférences. * 2004 : Habilitation à diriger les recherches. * 2005 : Professeur des universités. =Certificats d'authenticité= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats] <br style="clear: both" /> =Responsabilités= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Co-animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH. * Président du comité d’experts scientifiques 61/63 de l’université de Strasbourg depuis 2015. == Responsabilités antérieures == * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours de commande prédictive ** Cours d'informatique temps-réel ** Cours de technologie des asservissements ** Cours de technologies vertes == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] =Recherche= ==Thématiques== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [http://icube-avr.unistra.fr/fr/index.php/ANR_DexterWide Robotique parallèle à câbles] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [http://icube-avr.unistra.fr/fr/index.php/Raspberry_Pi_Simulink_Coder_target_(RPIt) RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode". <youtube>https://www.youtube.com/watch?v=jnNS4pmAGkk</youtube> * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 2655d173eecae979a97fe0587e623baf7d7c42b3 149 148 2022-07-25T15:06:28Z Jacques.gangloff 11 /* Responsabilités */ wikitext text/x-wiki [[Image:Jacques.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA Chaine YouTube] * Twitter : [https://twitter.com/JacquesGangloff?lang=fr @JacquesGangloff] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Skype : jacques.gangloff * Téléphone : 03 67 10 61 79 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C132 * Adresse perso : région de Strasbourg =Curriculum Vitae= * 1969 : Année de naissance * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS). * 1994 : Intégration de l'ENS de Cachan. * 1995 : Agrégation de génie électrique. * 1996 : DEA de photonique et image. * 1999 : Thèse de doctorat. * 2000 : Maître de conférences. * 2004 : Habilitation à diriger les recherches. * 2005 : Professeur des universités. =Certificats d'authenticité= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats] <br style="clear: both" /> =Responsabilités= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Co-animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques 61/63 de l’université de Strasbourg depuis 2015. == Responsabilités antérieures == * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours de commande prédictive ** Cours d'informatique temps-réel ** Cours de technologie des asservissements ** Cours de technologies vertes == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] =Recherche= ==Thématiques== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [http://icube-avr.unistra.fr/fr/index.php/ANR_DexterWide Robotique parallèle à câbles] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [http://icube-avr.unistra.fr/fr/index.php/Raspberry_Pi_Simulink_Coder_target_(RPIt) RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode". <youtube>https://www.youtube.com/watch?v=jnNS4pmAGkk</youtube> * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> bc506cb7abd8daf1ca1135bdef063b684074b27d 150 149 2022-07-25T15:09:49Z Jacques.gangloff 11 /* Logiciels */ wikitext text/x-wiki [[Image:Jacques.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA Chaine YouTube] * Twitter : [https://twitter.com/JacquesGangloff?lang=fr @JacquesGangloff] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Skype : jacques.gangloff * Téléphone : 03 67 10 61 79 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C132 * Adresse perso : région de Strasbourg =Curriculum Vitae= * 1969 : Année de naissance * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS). * 1994 : Intégration de l'ENS de Cachan. * 1995 : Agrégation de génie électrique. * 1996 : DEA de photonique et image. * 1999 : Thèse de doctorat. * 2000 : Maître de conférences. * 2004 : Habilitation à diriger les recherches. * 2005 : Professeur des universités. =Certificats d'authenticité= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats] <br style="clear: both" /> =Responsabilités= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Co-animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques 61/63 de l’université de Strasbourg depuis 2015. == Responsabilités antérieures == * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours de commande prédictive ** Cours d'informatique temps-réel ** Cours de technologie des asservissements ** Cours de technologies vertes == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] =Recherche= ==Thématiques== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [http://icube-avr.unistra.fr/fr/index.php/ANR_DexterWide Robotique parallèle à câbles] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 9dd64082f045a40bf44854a05deee443d80214fc 151 150 2022-07-25T15:15:33Z Jacques.gangloff 11 /* Thématiques */ wikitext text/x-wiki [[Image:Jacques.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA Chaine YouTube] * Twitter : [https://twitter.com/JacquesGangloff?lang=fr @JacquesGangloff] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Skype : jacques.gangloff * Téléphone : 03 67 10 61 79 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C132 * Adresse perso : région de Strasbourg =Curriculum Vitae= * 1969 : Année de naissance * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS). * 1994 : Intégration de l'ENS de Cachan. * 1995 : Agrégation de génie électrique. * 1996 : DEA de photonique et image. * 1999 : Thèse de doctorat. * 2000 : Maître de conférences. * 2004 : Habilitation à diriger les recherches. * 2005 : Professeur des universités. =Certificats d'authenticité= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats] <br style="clear: both" /> =Responsabilités= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Co-animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques 61/63 de l’université de Strasbourg depuis 2015. == Responsabilités antérieures == * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours de commande prédictive ** Cours d'informatique temps-réel ** Cours de technologie des asservissements ** Cours de technologies vertes == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] =Recherche= ==Thématiques== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 134ef028fb3fd6ec786283d2e17f6eb4e31228f1 6 29 127 2022-07-25T14:31:59Z Jacques.gangloff 11 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 6 30 128 2022-07-25T14:36:40Z Jacques.gangloff 11 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 6 31 129 2022-07-25T14:37:23Z Jacques.gangloff 11 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 6 32 130 2022-07-25T14:37:37Z Jacques.gangloff 11 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 6 33 131 2022-07-25T14:37:54Z Jacques.gangloff 11 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 6 34 132 2022-07-25T14:38:09Z Jacques.gangloff 11 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 6 35 133 2022-07-25T14:38:25Z Jacques.gangloff 11 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 6 36 134 2022-07-25T14:38:39Z Jacques.gangloff 11 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 6 37 135 2022-07-25T14:38:56Z Jacques.gangloff 11 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 6 38 136 2022-07-25T14:39:11Z Jacques.gangloff 11 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 6 39 142 2022-07-25T14:43:58Z Jacques.gangloff 11 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 6 40 144 2022-07-25T14:46:26Z Jacques.gangloff 11 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 6 41 146 2022-07-25T14:48:07Z Jacques.gangloff 11 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 0 14 152 63 2022-08-17T15:18:36Z Laroche 8 wikitext text/x-wiki =Education (under construction, Edouard)= RDG team is involved in several trainings in Strasbourg. [https://www.telecom-physique.fr Telecom Physique Strasbourg] (TPS) is an engineering school that delivers both Engineer and [https://www.telecom-physique.fr/formation/master-recherche/ Master] degrees. The [http://www.insa-strasbourg.fr/ INSA of Strasbourg] engineering school includes a [http://www.insa-strasbourg.fr/fr/mecatronique/?menu=formation&parent_label=L’ingénieur·e+INSA Mechatronics department] that is associated to the [https://www.master-iriv.fr IRIV Master]. [https://www.master-iriv.fr IRIV Master] is a two-year training with a strong research orientation. It is the ideal training to prepare a PhD in our team. The [https://www.master-iriv.fr/m1/dominante-healthtech HealthTech Interdisciplinary Thematic Institute] is a graduate program allowing to prepare a Master and a PhD. Students from abroad with strong academic results are welcome to apply. c1b2b7416af7ad6c6899e542730eb29c43d84685 153 152 2022-08-17T15:20:05Z Laroche 8 /* Education (under construction, Edouard) */ wikitext text/x-wiki =Education (under construction, Edouard)= RDH team is involved in several trainings in Strasbourg. [https://www.telecom-physique.fr Telecom Physique Strasbourg] (TPS) is an engineering school that delivers both Engineer and [https://www.telecom-physique.fr/formation/master-recherche/ Master] degrees. The [http://www.insa-strasbourg.fr/ INSA of Strasbourg] engineering school includes a [http://www.insa-strasbourg.fr/fr/mecatronique/?menu=formation&parent_label=L’ingénieur·e+INSA Mechatronics department] that is associated to the [https://www.master-iriv.fr IRIV Master]. [https://www.master-iriv.fr IRIV Master] is a two-year training with a strong research orientation. It is the ideal training to prepare a PhD in our team. The [https://www.master-iriv.fr/m1/dominante-healthtech HealthTech Interdisciplinary Thematic Institute] is a graduate program allowing to prepare a Master and a PhD. Students from abroad with strong academic results are welcome to apply. 68768bb9d8a6c8620f5c16d65e6c1720105735c5 0 14 154 153 2022-08-17T15:20:16Z Laroche 8 /* Education (under construction, Edouard) */ wikitext text/x-wiki =Education= RDH team is involved in several trainings in Strasbourg. [https://www.telecom-physique.fr Telecom Physique Strasbourg] (TPS) is an engineering school that delivers both Engineer and [https://www.telecom-physique.fr/formation/master-recherche/ Master] degrees. The [http://www.insa-strasbourg.fr/ INSA of Strasbourg] engineering school includes a [http://www.insa-strasbourg.fr/fr/mecatronique/?menu=formation&parent_label=L’ingénieur·e+INSA Mechatronics department] that is associated to the [https://www.master-iriv.fr IRIV Master]. [https://www.master-iriv.fr IRIV Master] is a two-year training with a strong research orientation. It is the ideal training to prepare a PhD in our team. The [https://www.master-iriv.fr/m1/dominante-healthtech HealthTech Interdisciplinary Thematic Institute] is a graduate program allowing to prepare a Master and a PhD. Students from abroad with strong academic results are welcome to apply. 910bfefe181da72840fdf606c5bc595f25dc306a 155 154 2022-08-17T15:24:43Z Laroche 8 /* Education */ wikitext text/x-wiki RDH team is involved in several trainings in Strasbourg. [https://www.telecom-physique.fr Telecom Physique Strasbourg] (TPS) is an engineering school that delivers both Engineer and [https://www.telecom-physique.fr/formation/master-recherche/ Master] degrees. The [http://www.insa-strasbourg.fr/ INSA of Strasbourg] engineering school includes a [http://www.insa-strasbourg.fr/fr/mecatronique/?menu=formation&parent_label=L’ingénieur·e+INSA Mechatronics department] that is associated to the [https://www.master-iriv.fr IRIV Master]. [https://www.master-iriv.fr IRIV Master] is a two-year training with a strong research orientation. It is the ideal training to prepare a PhD in our team. The [https://healthtech.unistra.fr HealthTech Interdisciplinary Thematic Institute] is a graduate program allowing to prepare a Master and a PhD. Students from abroad with strong academic results are welcome to apply. 163ce356b800b2e5185248cec39228b21bb1395e 156 155 2022-08-17T15:25:55Z Laroche 8 wikitext text/x-wiki RDH team is involved in several trainings in Strasbourg. [https://www.telecom-physique.fr Telecom Physique Strasbourg] (TPS) is an engineering school of the [https://www.unistra.fr University of Strasbourg] that delivers both Engineer and [https://www.telecom-physique.fr/formation/master-recherche/ Master] degrees. The [http://www.insa-strasbourg.fr/ INSA of Strasbourg] engineering school includes a [http://www.insa-strasbourg.fr/fr/mecatronique/?menu=formation&parent_label=L’ingénieur·e+INSA Mechatronics department] that is associated to the [https://www.master-iriv.fr IRIV Master]. [https://www.master-iriv.fr IRIV Master] is a two-year training with a strong research orientation. It is the ideal training to prepare a PhD in our team. The [https://healthtech.unistra.fr HealthTech Interdisciplinary Thematic Institute] is a graduate program allowing to prepare a Master and a PhD. Students from abroad with strong academic results are welcome to apply. 1b66448155b64606c2cdd68354c6d4fd3e99de9e 157 156 2022-08-17T15:30:35Z Laroche 8 wikitext text/x-wiki RDH team is involved in several trainings in Strasbourg. [https://www.telecom-physique.fr Telecom Physique Strasbourg] is an engineering school of the [https://www.unistra.fr University of Strasbourg] that delivers both Engineer and [https://www.telecom-physique.fr/formation/master-recherche/ Master] degrees. The [http://www.insa-strasbourg.fr/ INSA of Strasbourg] engineering school includes a [http://www.insa-strasbourg.fr/fr/mecatronique/?menu=formation&parent_label=L’ingénieur·e+INSA Mechatronics department] that is associated to the [https://www.master-iriv.fr IRIV Master]. [https://www.master-iriv.fr IRIV Master] is a two-year training with a strong research orientation. It is the ideal training to prepare a PhD in our team. The [https://healthtech.unistra.fr HealthTech Interdisciplinary Thematic Institute] is a graduate program allowing to prepare a Master and a PhD. Students from abroad with strong academic results are welcome to apply. dc95736cdd880ef19afe6cb501f5c7ad582d336e 158 157 2022-08-17T15:31:21Z Laroche 8 wikitext text/x-wiki RDH team is involved in several trainings in Strasbourg. [https://www.telecom-physique.fr Telecom Physique Strasbourg] is an engineering school of the [https://www.unistra.fr University of Strasbourg] that delivers both Engineer and [https://www.telecom-physique.fr/formation/master-recherche/ Master] degrees. The [http://www.insa-strasbourg.fr/ INSA of Strasbourg] engineering school includes a [http://www.insa-strasbourg.fr/fr/mecatronique/?menu=formation&parent_label=L’ingénieur·e+INSA Mechatronics department] that is associated to the [https://www.master-iriv.fr IRIV Master]. [https://www.master-iriv.fr IRIV Master] is a two-year training with a strong research orientation. It is the ideal training to be prepared to start a PhD in our team. The [https://healthtech.unistra.fr HealthTech Interdisciplinary Thematic Institute] is a graduate program allowing to prepare a Master and a PhD. Students from abroad with strong academic results are welcome to apply. 83b006bc36486394b01d256cb603b5f63a05947b 159 158 2022-08-17T15:32:39Z Laroche 8 wikitext text/x-wiki RDH team is involved in several trainings in Strasbourg. [https://www.telecom-physique.fr Telecom Physique Strasbourg] is an engineering school of the [https://www.unistra.fr University of Strasbourg] that delivers both Engineer and [https://www.telecom-physique.fr/formation/master-recherche/ Master] degrees. The [http://www.insa-strasbourg.fr/ INSA of Strasbourg] engineering school includes a [http://www.insa-strasbourg.fr/fr/mecatronique/?menu=formation&parent_label=L’ingénieur·e+INSA Mechatronics department] that is associated to the [https://www.master-iriv.fr IRIV Master]. Admission is possible in first or second year. [https://www.master-iriv.fr IRIV Master] is a two-year training with a strong research orientation. It is the ideal training to be prepared to start a PhD in our team. The [https://healthtech.unistra.fr HealthTech Interdisciplinary Thematic Institute] is a graduate program allowing to prepare a Master and a PhD. Students from abroad with strong academic results are welcome to apply. f0535ee828f8da3a6536efadf388a6fa13a72591 160 159 2022-08-17T15:34:18Z Laroche 8 wikitext text/x-wiki RDH team is involved in several trainings in Strasbourg. [https://www.telecom-physique.fr Telecom Physique Strasbourg] is an engineering school of the [https://www.unistra.fr University of Strasbourg] that delivers both Engineer and [https://www.telecom-physique.fr/formation/master-recherche/ Master] degrees. The [http://www.insa-strasbourg.fr/ INSA of Strasbourg] engineering school includes a [http://www.insa-strasbourg.fr/fr/mecatronique/?menu=formation&parent_label=L’ingénieur·e+INSA Mechatronics department] that is associated to the [https://www.master-iriv.fr IRIV Master]. Admission is possible in first or second year. [https://www.master-iriv.fr IRIV Master] is a two-year training with a strong research orientation. It is the ideal training to be prepared to start a PhD in our team. The [https://healthtech.unistra.fr HealthTech Interdisciplinary Thematic Institute] is a graduate program allowing to prepare a Master and a PhD. Students from outside Strasbourg with strong academic results are welcome to apply. 050e0ed5e9659b699a1c6f1eb29405a40754ffdb 161 160 2022-08-17T15:35:48Z Laroche 8 wikitext text/x-wiki RDH team is involved in several trainings in Strasbourg. [https://www.telecom-physique.fr Telecom Physique Strasbourg] is an engineering school of the [https://www.unistra.fr University of Strasbourg] that delivers both Engineer and [https://www.telecom-physique.fr/formation/master-recherche/ Master] degrees. The [http://www.insa-strasbourg.fr/ INSA of Strasbourg] engineering school includes a [http://www.insa-strasbourg.fr/fr/mecatronique/?menu=formation&parent_label=L’ingénieur·e+INSA Mechatronics department] that is associated to the [https://www.master-iriv.fr IRIV Master]. [https://www.master-iriv.fr IRIV Master] is a two-year training with a strong research orientation. It is the ideal training to be prepared to start a PhD in our team. Admission is possible in first or second year. The [https://healthtech.unistra.fr HealthTech Interdisciplinary Thematic Institute] is a graduate program allowing to prepare a Master and a PhD. Students from outside Strasbourg with strong academic results are welcome to apply. a3c85ae20d0f9798ba3382e58bbdac591eb7ff3a 0 42 162 2022-09-16T14:00:20Z L.cuvillon 9 Created page with "[[Image:Cuvillon.jpg|thumb|right|200px|Loic Cuvillon]] =Contact= A cette adresse: loic_at_eavr.u-strasbg.fr =Curriculum Vitae= * 2002 : Diplôme d'ingénieur de l'ENSPS. *..." wikitext text/x-wiki [[Image:Cuvillon.jpg|thumb|right|200px|Loic Cuvillon]] =Contact= A cette adresse: loic_at_eavr.u-strasbg.fr =Curriculum Vitae= * 2002 : Diplôme d'ingénieur de l'ENSPS. * 2006 : Thèse de doctorat en robotique, Université de Strasbourg * 2007 : Maître de Conférences, Université de Strasbourg =Enseignement= Enseignement à [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], école d'ingénieur. * Robotique * Automatique * [[Systèmes_temps-réel_et_systèmes_embarqués_(EII)|Informatique temps-réel]] * [[Programmation_C|Programmation C]] =Recherche= ==Thématiques== * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques ==Publications== ===Publications téléchargeables=== * [[Media:these_cuvillon.pdf|Thèse (2006)]] ===Liste des publications=== * [[Media:publications.pdf|Publications (pdf))]] <iframe key="papr" path="?author=cuvillon&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous#hideMenu"/> 52127220df3be69a399161392fac1917ed3a7919 8 3 163 54 2022-09-21T07:55:27Z Admin 2 wikitext text/x-wiki * navigation ** mainpage|Welcome ** Members|Members ** https://publis.icube.unistra.fr/?allaut=or&team=23|Publications * Research themes ** Medical Robotics and Interventional Imaging|Medical Robotics and Interventional Imaging ** Learning, Modelling and Data Science|Learning, Modelling and Data Science ** Complex Systems and Parsimony|Complex Systems and Parsimony * Partners ** https://healthtech.unistra.fr|ITI Healthtech ** https://cami-labex.fr/|Labex CAMI ** https://plateforme.icube.unistra.fr/iris/index.php/Accueil|IRIS Platform ** https://www.ihu-strasbourg.eu/|IHU Strasbourg ** Education|Education * Job offers ** Interships|Interships ** PhD|PhD ** Postdoc|Postdoc * ** Contact|Contact 2c0ab51251f5f2d1a546534f4990e0f0516799f4 0 43 164 2022-09-21T11:34:11Z Nageotte 14 Created page with "<!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en..." wikitext text/x-wiki <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <center><B><font size="4">Maître de Conférences </font></B></center> <center><B><font size="4">Enseignant en Automatique, chercheur en Robotique </font></B></center> [[fichier:florent_nageotte_id3.jpg|thumb|right|150px]] <!--[[Image:florent_nageotte_id2.jpg|thumb|right|200px]]--> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> [http://icube-avr.unistra.fr/en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] <!-- = Offre de Stage de Master = == Computer vision for robotic flexible endoscopy == [[File:Master Internship proposal 2021.pdf|thumb|pdf file for internship proposal]] '''Title''' : Environment reconstruction using a monocular endoscopic camera '''Keywords''' : visual tracking, shape from motion, depth recovery, medical robotics '''Duration''' : approximately 5 months ''(ideally between february and august 2021)'' '''Grant''' : legal grant for training periods (~ 550 euros / month). '''Location''' : ICube Robotic platform, at IHU Strasbourg '''Context''' : This internship takes place in the scope of the assistance to medical procedures with robotic flexible endoscopes. The AVR team of the ICube laboratory has developed a robotic platform for endoluminal surgery called STRAS (see photo below). This is a telemanipulated system equipped with an endoscopic camera and two articulated instruments, with 3 degrees of freedom each. In addition to the conventional telemanipulation control, we aim at including automatic modes to the robot, with the aim to perform tasks such as automated scanning, or automatic endoscope positioning. For reaching this aim, one of the difficulties to be tackled is the reconstruction of the shape of the environment with the only available sensor: a monocular endoscopic camera. [[File:Vlcsnap-2019-03-22-14h30m11s559.jpg|thumb|Automatic task viewed from the endoscopic camera]] [[File:STRAS global copyright low res.jpg|thumb|STRAS robotic system]] '''Problem to be solved''' In this project, we aim at reconstructing the shape and position of the environment (tissues in in vivo environment, phantoms in laboratory setups) with respect to the endoscopic camera. The camera being monocular, shape and structure from motion will be primarily used to reconstruct the environment and motions up to a scale factor. Shape from shading could also be envisioned. The difficulties are the low quality of endoscopic images, the limited possible lateral displacement of the endoscope and the possible interactions of the instruments with the tissues creating disturbing motions and deformations. In a second step, we will try to reconstruct the metric shape and positions. This can be done by using odometric measurements on the endoscope. However, these measurements are known to be imprecise. Specific strategies, will thus be needed to recover the unknown scale factor, by using for instance Bayesian filtering approaches or machine learning techniques. '''Work to be carried out''' The intern will have to develop algorithms for shape reconstruction from monocular images by relying on state of the art methods for tissues tracking in endoscopy (gastroenterology in particular). Algorithms have already been implanted for pure tracking and can serve as a basis. Techniques for depth estimation will then be developed, by focusing on the use of embedded measurements provided by the robot encoders. If needed a second miniature camera could be added to the setup. Tests will be carried out in the laboratory on phantoms and on in vivo images acquired during previous preclinical trials. '''Work environment''' The internship will take place on the medical robotic platform of the ICube laboratory located at IHU (Institut Hospitalo Universitaire) in the heart of Strasbourg. The intern will be supervised by Florent Nageotte (associate professor in medical robotics) and Philippe Zanne (Engineer, responsible for the STRAS robotic system). The intern will have access to a computer for developing programs, to image acquisition systems, to in vivo images and to the robotic device for laboratory testing. Developments will be made in C / C++ or Python and possibly with Matlab for prototyping. ''Covid19 conditions'': In case of sanitary constraints that may prevent the internship to be realized on site, a large part of the work could be done at a distance by working on data acquired off-line. Only robotic testing will be made impossible. The intern will have to work on his/her own laptop either developing and running algorithms locally or at a distance on a connected machine. '''Candidates profile''' We are looking for Master students in the second year or students in engineering school at the level of Master 2, with major in computer vision or robotics / computer science with a strong interest / experience in computer vision. Interest in medical applications is a plus. Proficiency in C/C++ or Python coding is mandatory. '''Conditions''' 5 to 6 months between February 2021 and August / September 2021. The intern will receive the legal “gratification” (around 550€ / month) '''Application''' Interested candidates should send CV / resume, master program and grades (if available) and motivation letter to Nageotte@unistra.fr, by mentioning “computer vision internship” in the email subject. --> = Documents pédagogiques récents = == Pour les étudiants de M1MNE == <!-- * Les sujets de TP sont disponibles en [http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf version électronique]. --> <!-- * La correction du TD de rappel d'automatique analogique est [http://eavr.u-strasbg.fr/~nageotte/correction_rappel_analogique_2019.pdf disponible]. * La correction des exercices de TD non corrigés en séance est [http://eavr.u-strasbg.fr/~nageotte/correctionTD_1920.pdf disponible]. --> * Les supports de cours sont disponibles [http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf ici] (version déposée le 08/09/20). <!-- Une version imprimable est aussi disponible [http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2019_vimp.pdf ici] --> * Vous pouvez télécharger la version électronique du [http://eavr.u-strasbg.fr/~nageotte/Cours_num_M1MNE_2020.pdf cours] (déposée le 08/09/20) ainsi que les [http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf sujets de TD] (version du 08/09/20). <!-- * Pour ceux qui souhaitent réviser les bases de l'automatique continue, vous pouvez consulter les supports de cours de [http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf L3ESA et L3 mécatronique] ([http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf version imprimable]) --> <!-- == For the students of the "Medical Robotics" intensive course == * [http://eavr.u-strasbg.fr/~nageotte/Slides_MedicalRobotics_2020_vimp_4students.pdf Slides of the course (english)] * [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_PS.tar.gz Programs for practical session] --> <!--* [http://eavr.u-strasbg.fr/~nageotte/Support_cours_MedicalRobotics_2019_vimp_4students.pdf Supports de cours (français)]--> <!-- == Pour les étudiants de CentraleSupelec MAJ SIR == * [http://eavr.u-strasbg.fr/~nageotte/Support_cours_Supelec_2017_vimp_4students.pdf Support de cours] de robotique médicale --> <!-- == Pour les étudiants de M2 IRIV / IRMC == * Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1920_vimp4students.pdf version électronique] * fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices] * [http://eavr.u-strasbg.fr/~nageotte/Corrections_IRIV_1920.pdf Corrections] des exercices --> <!-- * Pour les étudiants de L3ESA et de L3 Mécatronique Les supports de cours sont disponibles [http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf ici]. --> <!-- Une version imprimable est également disponible [http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_18_vimp.pdf ici] --> <!-- == Pour les étudiants de TPS TIS 3A DTMI == --> <!-- ** Support de cours de [http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2015.pdf GMCAO chirurgie digestive] --> <!-- * [http://eavr.u-strasbg.fr/~nageotte/TP_etudiants.tar.gz Archive] du sujet et des fonctions pour les TPs de recalage --> <!-- * Support de cours d'[http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_estimation_pose_1920_vimp_4students.pdf estimation de pose] (version du mardi 10 septembre 2019). * [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule] d'exercices d'estimation de pose --> <!--* [http://eavr.u-strasbg.fr/~nageotte/Articles_EstimationPose.tar.gz Articles] pour le cours d'estimation de pose * [http://eavr.u-strasbg.fr/~nageotte/Yeung_flexible_platforms_review.pdf Document] pour le cours de GMCAO - Chirurgie digestive --> <!-- * [http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés] des exercices d'estimation de pose --> <!-- * [http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2017.pdf Transparents] du cours de GMCAO - Chirurgie digestive --> <!-- == Pour les étudiants de TPS FIP TIS 3A == * Support de cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] --> <!-- et de [http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP_1516_vimp_4students.pdf recalage] --> <!-- Support de cours [http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP_1617_vimp_4students.pdf recalage] --> <!-- * Pour les étudiants de TPS TICS 3A Support de cours (version temporaire du 22 octobre 2013) en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_TICS_1314_vimp.pdf version électronique] --> <!-- * Pour les étudiants de L3ESA Vous trouverez [http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_12.pdf ici] une version régulièrement mise à jour des transparents projetés pendant les cours (version du 18/01/12) --> <!-- ainsi qu'une version [http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_10_vimp.pdf imprimable] sans les bandeaux de couleur. --> <!-- * Pour les étudiants de FIP2A [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] des exercices des TDs concernant les fonctions de transfert, la stabilité et le lieu d'Evans et la correction numérique des systèmes. Notez que les TDs corrigés au tableau n'y figurent pas. Voici le [http://eavr.u-strasbg.fr/~nageotte/correction_TD_revision.pdf corrigé] du TD "Rappels d'automatique analogique". Attention, il y a une erreur dans l'énoncé de l'ex 4. Pour le correcteur proposé au d., il faut lire C(s) = 1/s. --> <!-- Vous trouverez [http://eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2012_2013.pdf ici] une version temporaire des transparents projetés pendant les cours (version du 19/10/12). La version électronique du polycopié du cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2012_2013_velec.pdf ici]. Les sujets de TDs sont accessibles [http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_FIP.pdf là]. Annales des examens des années passées : **[http://eavr.u-strasbg.fr/~nageotte/sujet_FIP_decembre_2010.pdf décembre 2010] [http://eavr.u-strasbg.fr/~nageotte/Corrige_dec2010.pdf Correction] **[http://eavr.u-strasbg.fr/~nageotte/sujet_FIP_juin_2011.pdf juin 2011] **[http://eavr.u-strasbg.fr/~nageotte/sujet_FIP_janvier_2012.pdf janvier 2012] [http://eavr.u-strasbg.fr/~nageotte/Correction_FIP_v1.pdf Correction] **[http://eavr.u-strasbg.fr/~nageotte/sujet_FIP_juin_2012.pdf juin 2012] Corrigé des TDs * [http://eavr.u-strasbg.fr/~nageotte/correction_TD_FIP_rappels.pdf Rappels d'analogique] Sujets de TP * [http://eavr.u-strasbg.fr/~nageotte/sujets_TP_FIP2A.pdf Version électronique] --> <!-- et le cours de FIP1A [http://eavr.u-strasbg.fr/~bernard/education/ensps_1a/index_1a.html de l'ENSPS] de B. Bayle --> <!-- * le cours de recalage proposé aux étudiants de Houston et de Télécom Paris est disponible [http://eavr.u-strasbg.fr/~nageotte/Slides_registration_09.pdf ici] (en anglais)--> <!--Les sujets de TP d'automatique de M1MNE sont disponibles [[Media: fascicule_TP.pdf|ici]]. Les rotations de groupes et binômes peuvent être consultées [[Media:rotations_tp_master_0809.pdf|ici]]. --> <!--Le [[Media: Transparent_cours_2008.pdf|support de cours]] limité à ce qui a été étudié en 2008 a été mis à jour.--> <!-- * Les sujets de TP d'automatique de L3ESA sont disponibles [[Media:Sujets_tp_L3ESA.pdf|ici]] ainsi que les [[Media:rotations.pdf|rotations]] des groupes et les TPs à préparer pour chaque binôme. --> <!--30 septembre : la nouvelle version du cours d'automatique de M1MNE est disponible [[Media: Cours_num_M1MNE.pdf|ici]] Vous pouvez également télécharger le support de cours partiel (remis à jour après le cours) [[Media:Support_cours_M1MNE.pdf|ici]] ainsi qu'une [[Media:Support_cours_M1MNE_imp.pdf|version imprimable]] sans couleurs.--> <!--17 mars : Les sujets de TP d'automatique de licence 3 ESA sont disponibles [[Media:TP_L3ESA_0708.pdf|ici]]. La version papier sera bientôt disponible chez Denis. 4 décembre : La nouvelle version du cours de recalage est prête. Vous pouvez l'obtenir [[Media:Recalage0708.pdf | ici]] ou sur la page [[GMCAO | des cours en ligne]] 21 novembre : Les sujets de TP de M1MNE sont disponibles en [[Media:TP_M1MNE_0708.pdf |version numérique]]. La version papier sera disponible le 28 novembre chez Denis. 21 novembre : Vous pouvez obtenir les corrigés partiels des TDs de M1MNE [[Media:correction_TD_M1MNE.pdf | ici]] --> =Curriculum Vitae= * 2000 : Diplôme d'ingénieur de l'ENSPS, Strasbourg. * 2000 : DEA Photonique Image et Cybernétique, ULP, Strasbourg. Stage de fin d'études au Center for Distributed Robotics de l'université de Minnesota sous la direction de N. Papanikolopoulos * 2005 : Thèse de doctorat, ULP, Strasbourg en robotique médicale sous la direction de M. de Mathelin. * Depuis septembre 2006 : Maître de Conférences à l'université de Strasbourg (anciennement ULP) =Responsabilités= * Responsable du parcours IRMC du master IRIV porté par TPS (M1 IMed / M2 IRMC) * Référent Alumnis et Association des Anciens élèves de l'école, responsable de l'enquête annuelle de la Conférence des Grandes Ecoles sur le devenir des diplômés =Fonctions d'enseignement= Maître de Conférences l' [http://www.unistra.fr/ Université de Strasbourg], rattaché à [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (école d'ingénieurs) depuis février 2019 (auparavant rattaché à la faculté de Physique et Ingénierie) <!--[http://www-ulp.u-strasbg.fr/]-->. ==Matières enseignées== === A TPS 3ème année, TIS option DTMI === * GMCAOs en chirurgie digestive <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Estimation de pose, recalage et asservissements visuels pour la robotique médicale ([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs]) <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> === TPS, M2 IRIV / IRMC === * Recalage en robotique médicale. ** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. === En licence ESA et Mécatronique 3ème année === * Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique === En master MNE 1ère année === * Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> **[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique] <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> **[[Media:Aide_RST.pdf|Aide à la synthèse RST]] <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> <!-- === Dans le cadre du PUF Strasbourg / Houston et Atlantis CRISP === * Cours sur le recalage et les asservissements visuels dans l'assistance aux gestes médico-chirurgicaux --> === TPS formation FIP 3ème année === * Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> ==Ecole d'été de robotique médicale== <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Présentation des asservissements visuels appliqués à la robotique médicale, donnée lors de la 8ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2019. [https://www.lirmm.fr/sssr-2019/ Lien] sur la page de l'école <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Recherche= Assistance robotisée aux gestes chirurgicaux : * [[Assistance à la suture]] en chirurgie laparoscopique * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale] (projet Isis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement, commande et télémanipulation d'un système robotique basé sur des endoscopes flexibles), puis projet de maturation EASE financé par SATT Conectus * Encadrement de thèses **Laurent Ott, thèse soutenue en novembre 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. **Bérengère Bardou, thèse soutenue en novembre 2011(Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) **Antonio De Donno, thèse soutenue en décembre 2013 (Assistance à la chirurgie endoluminale et à trocart unique) **Paolo Cabras, thèse soutenue en février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery : [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] **Laure-Anaïs Chanel, thèse soutenue en mars 2016 (Traitement par HIFU robotisé sous imagerie échographique) * Rafael Aleluia Porto, thèse soutenue en janvier 2021 (commande par apprentissage d'endoscopes flexibles) * Thèses en cours : ** Gaelle Thomas, depuis octobre 2018, avec J. Vappou et L. Barbé (Assistance robotisée à l'ouverture de la barrière hémato-encéphalique), dans le cadre du projet ANR 3BOPUS porté par CEA - Neurospin (B. Larrat) ** Thibault Poignonec, depuis octobre 2019 (commande partagée pour la chirurgie mini-invasive) * Co-encadrement : ** Fernando Gonzalez Herrera, depuis février 2020 ** Guiqiu Liao, depuis octobre 2019 ** Paul Mondou, depuis octobre 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> ==Thématiques== * Assistance robotique à l'endoscopie flexible, projet [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS] * Commande par vision * Asservissement visuels * Estimation par la vision * Planification de trajectoire * Robotique médicale et chirurgicale * Systèmes flexibles à câbles * Recalage par l'image ==Publications== ===Publications téléchargeables=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===Liste des publications=== <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> =Coin perso= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Centre ville depuis Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Dîner de bienvenue au Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | Vue nord depuis Columbia Center]] |} {| === Tokyo (Medical robotics seminar à l'ambassade de France) === |[[Image:P1010652.jpg|thumb|left|150px | Temple d'Asakusa]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo depuis Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | le plus grand "Mall" des USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Land of lakes (lake Calhoun)]] |} {| === Photos du Japon (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - le pavillon d'or]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe de jour]] |[[Image:cimg3460.jpg|thumb|left|200px | ... et de nuit]] |} {| === Photos de Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Soleil couchant]] |[[Image:cimg3031.jpg|thumb|left|200px | la "Sun Valley" depuis la "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | le repos du "best student"]] |} {| === Photos de Californie (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Banc de lions de mer]] |[[Image:cimg2173.jpg|thumb|left|200px | Véhicules de secours]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Photos de Pékin (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Palais d'été]] |[[Image:cimg0811.jpg|thumb|left|200px | Soupe à la tortue]] |[[Image:cimg0831.jpg|thumb|left|200px | Grande muraille dans la brume]] |} {| === Photos de l'Ontario (visite chez MDRobotics septembre 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Chutes du Niagara]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto depuis la tour CN]] |[[Image:cimg0646.jpg|thumb|left|150px | Tour CN, Toronto]] |} {| === Photos de San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palais]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dauphins en moyenne mer]] |} {| === Photos de Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | Chicago by night]] |[[Image:IMG_0331.jpg|thumb|left|200px | ...encore]] |[[Image:IMG_0350.jpg|thumb|left|200px | et de jour]] |} 6e1f89f1a92b050af826302495da6ae4a7d67fd2 166 164 2022-09-21T15:26:05Z Nageotte 14 /* Recherche */ wikitext text/x-wiki <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <center><B><font size="4">Maître de Conférences </font></B></center> <center><B><font size="4">Enseignant en Automatique, chercheur en Robotique </font></B></center> [[fichier:florent_nageotte_id3.jpg|thumb|right|150px]] <!--[[Image:florent_nageotte_id2.jpg|thumb|right|200px]]--> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> [http://icube-avr.unistra.fr/en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] <!-- = Offre de Stage de Master = == Computer vision for robotic flexible endoscopy == [[File:Master Internship proposal 2021.pdf|thumb|pdf file for internship proposal]] '''Title''' : Environment reconstruction using a monocular endoscopic camera '''Keywords''' : visual tracking, shape from motion, depth recovery, medical robotics '''Duration''' : approximately 5 months ''(ideally between february and august 2021)'' '''Grant''' : legal grant for training periods (~ 550 euros / month). '''Location''' : ICube Robotic platform, at IHU Strasbourg '''Context''' : This internship takes place in the scope of the assistance to medical procedures with robotic flexible endoscopes. The AVR team of the ICube laboratory has developed a robotic platform for endoluminal surgery called STRAS (see photo below). This is a telemanipulated system equipped with an endoscopic camera and two articulated instruments, with 3 degrees of freedom each. In addition to the conventional telemanipulation control, we aim at including automatic modes to the robot, with the aim to perform tasks such as automated scanning, or automatic endoscope positioning. For reaching this aim, one of the difficulties to be tackled is the reconstruction of the shape of the environment with the only available sensor: a monocular endoscopic camera. [[File:Vlcsnap-2019-03-22-14h30m11s559.jpg|thumb|Automatic task viewed from the endoscopic camera]] [[File:STRAS global copyright low res.jpg|thumb|STRAS robotic system]] '''Problem to be solved''' In this project, we aim at reconstructing the shape and position of the environment (tissues in in vivo environment, phantoms in laboratory setups) with respect to the endoscopic camera. The camera being monocular, shape and structure from motion will be primarily used to reconstruct the environment and motions up to a scale factor. Shape from shading could also be envisioned. The difficulties are the low quality of endoscopic images, the limited possible lateral displacement of the endoscope and the possible interactions of the instruments with the tissues creating disturbing motions and deformations. In a second step, we will try to reconstruct the metric shape and positions. This can be done by using odometric measurements on the endoscope. However, these measurements are known to be imprecise. Specific strategies, will thus be needed to recover the unknown scale factor, by using for instance Bayesian filtering approaches or machine learning techniques. '''Work to be carried out''' The intern will have to develop algorithms for shape reconstruction from monocular images by relying on state of the art methods for tissues tracking in endoscopy (gastroenterology in particular). Algorithms have already been implanted for pure tracking and can serve as a basis. Techniques for depth estimation will then be developed, by focusing on the use of embedded measurements provided by the robot encoders. If needed a second miniature camera could be added to the setup. Tests will be carried out in the laboratory on phantoms and on in vivo images acquired during previous preclinical trials. '''Work environment''' The internship will take place on the medical robotic platform of the ICube laboratory located at IHU (Institut Hospitalo Universitaire) in the heart of Strasbourg. The intern will be supervised by Florent Nageotte (associate professor in medical robotics) and Philippe Zanne (Engineer, responsible for the STRAS robotic system). The intern will have access to a computer for developing programs, to image acquisition systems, to in vivo images and to the robotic device for laboratory testing. Developments will be made in C / C++ or Python and possibly with Matlab for prototyping. ''Covid19 conditions'': In case of sanitary constraints that may prevent the internship to be realized on site, a large part of the work could be done at a distance by working on data acquired off-line. Only robotic testing will be made impossible. The intern will have to work on his/her own laptop either developing and running algorithms locally or at a distance on a connected machine. '''Candidates profile''' We are looking for Master students in the second year or students in engineering school at the level of Master 2, with major in computer vision or robotics / computer science with a strong interest / experience in computer vision. Interest in medical applications is a plus. Proficiency in C/C++ or Python coding is mandatory. '''Conditions''' 5 to 6 months between February 2021 and August / September 2021. The intern will receive the legal “gratification” (around 550€ / month) '''Application''' Interested candidates should send CV / resume, master program and grades (if available) and motivation letter to Nageotte@unistra.fr, by mentioning “computer vision internship” in the email subject. --> = Documents pédagogiques récents = == Pour les étudiants de M1MNE == <!-- * Les sujets de TP sont disponibles en [http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf version électronique]. --> <!-- * La correction du TD de rappel d'automatique analogique est [http://eavr.u-strasbg.fr/~nageotte/correction_rappel_analogique_2019.pdf disponible]. * La correction des exercices de TD non corrigés en séance est [http://eavr.u-strasbg.fr/~nageotte/correctionTD_1920.pdf disponible]. --> * Les supports de cours sont disponibles [http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf ici] (version déposée le 08/09/20). <!-- Une version imprimable est aussi disponible [http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2019_vimp.pdf ici] --> * Vous pouvez télécharger la version électronique du [http://eavr.u-strasbg.fr/~nageotte/Cours_num_M1MNE_2020.pdf cours] (déposée le 08/09/20) ainsi que les [http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf sujets de TD] (version du 08/09/20). <!-- * Pour ceux qui souhaitent réviser les bases de l'automatique continue, vous pouvez consulter les supports de cours de [http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf L3ESA et L3 mécatronique] ([http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf version imprimable]) --> <!-- == For the students of the "Medical Robotics" intensive course == * [http://eavr.u-strasbg.fr/~nageotte/Slides_MedicalRobotics_2020_vimp_4students.pdf Slides of the course (english)] * [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_PS.tar.gz Programs for practical session] --> <!--* [http://eavr.u-strasbg.fr/~nageotte/Support_cours_MedicalRobotics_2019_vimp_4students.pdf Supports de cours (français)]--> <!-- == Pour les étudiants de CentraleSupelec MAJ SIR == * [http://eavr.u-strasbg.fr/~nageotte/Support_cours_Supelec_2017_vimp_4students.pdf Support de cours] de robotique médicale --> <!-- == Pour les étudiants de M2 IRIV / IRMC == * Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1920_vimp4students.pdf version électronique] * fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices] * [http://eavr.u-strasbg.fr/~nageotte/Corrections_IRIV_1920.pdf Corrections] des exercices --> <!-- * Pour les étudiants de L3ESA et de L3 Mécatronique Les supports de cours sont disponibles [http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf ici]. --> <!-- Une version imprimable est également disponible [http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_18_vimp.pdf ici] --> <!-- == Pour les étudiants de TPS TIS 3A DTMI == --> <!-- ** Support de cours de [http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2015.pdf GMCAO chirurgie digestive] --> <!-- * [http://eavr.u-strasbg.fr/~nageotte/TP_etudiants.tar.gz Archive] du sujet et des fonctions pour les TPs de recalage --> <!-- * Support de cours d'[http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_estimation_pose_1920_vimp_4students.pdf estimation de pose] (version du mardi 10 septembre 2019). * [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule] d'exercices d'estimation de pose --> <!--* [http://eavr.u-strasbg.fr/~nageotte/Articles_EstimationPose.tar.gz Articles] pour le cours d'estimation de pose * [http://eavr.u-strasbg.fr/~nageotte/Yeung_flexible_platforms_review.pdf Document] pour le cours de GMCAO - Chirurgie digestive --> <!-- * [http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés] des exercices d'estimation de pose --> <!-- * [http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2017.pdf Transparents] du cours de GMCAO - Chirurgie digestive --> <!-- == Pour les étudiants de TPS FIP TIS 3A == * Support de cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] --> <!-- et de [http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP_1516_vimp_4students.pdf recalage] --> <!-- Support de cours [http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP_1617_vimp_4students.pdf recalage] --> <!-- * Pour les étudiants de TPS TICS 3A Support de cours (version temporaire du 22 octobre 2013) en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_TICS_1314_vimp.pdf version électronique] --> <!-- * Pour les étudiants de L3ESA Vous trouverez [http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_12.pdf ici] une version régulièrement mise à jour des transparents projetés pendant les cours (version du 18/01/12) --> <!-- ainsi qu'une version [http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_10_vimp.pdf imprimable] sans les bandeaux de couleur. --> <!-- * Pour les étudiants de FIP2A [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] des exercices des TDs concernant les fonctions de transfert, la stabilité et le lieu d'Evans et la correction numérique des systèmes. Notez que les TDs corrigés au tableau n'y figurent pas. Voici le [http://eavr.u-strasbg.fr/~nageotte/correction_TD_revision.pdf corrigé] du TD "Rappels d'automatique analogique". Attention, il y a une erreur dans l'énoncé de l'ex 4. Pour le correcteur proposé au d., il faut lire C(s) = 1/s. --> <!-- Vous trouverez [http://eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2012_2013.pdf ici] une version temporaire des transparents projetés pendant les cours (version du 19/10/12). La version électronique du polycopié du cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2012_2013_velec.pdf ici]. Les sujets de TDs sont accessibles [http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_FIP.pdf là]. Annales des examens des années passées : **[http://eavr.u-strasbg.fr/~nageotte/sujet_FIP_decembre_2010.pdf décembre 2010] [http://eavr.u-strasbg.fr/~nageotte/Corrige_dec2010.pdf Correction] **[http://eavr.u-strasbg.fr/~nageotte/sujet_FIP_juin_2011.pdf juin 2011] **[http://eavr.u-strasbg.fr/~nageotte/sujet_FIP_janvier_2012.pdf janvier 2012] [http://eavr.u-strasbg.fr/~nageotte/Correction_FIP_v1.pdf Correction] **[http://eavr.u-strasbg.fr/~nageotte/sujet_FIP_juin_2012.pdf juin 2012] Corrigé des TDs * [http://eavr.u-strasbg.fr/~nageotte/correction_TD_FIP_rappels.pdf Rappels d'analogique] Sujets de TP * [http://eavr.u-strasbg.fr/~nageotte/sujets_TP_FIP2A.pdf Version électronique] --> <!-- et le cours de FIP1A [http://eavr.u-strasbg.fr/~bernard/education/ensps_1a/index_1a.html de l'ENSPS] de B. Bayle --> <!-- * le cours de recalage proposé aux étudiants de Houston et de Télécom Paris est disponible [http://eavr.u-strasbg.fr/~nageotte/Slides_registration_09.pdf ici] (en anglais)--> <!--Les sujets de TP d'automatique de M1MNE sont disponibles [[Media: fascicule_TP.pdf|ici]]. Les rotations de groupes et binômes peuvent être consultées [[Media:rotations_tp_master_0809.pdf|ici]]. --> <!--Le [[Media: Transparent_cours_2008.pdf|support de cours]] limité à ce qui a été étudié en 2008 a été mis à jour.--> <!-- * Les sujets de TP d'automatique de L3ESA sont disponibles [[Media:Sujets_tp_L3ESA.pdf|ici]] ainsi que les [[Media:rotations.pdf|rotations]] des groupes et les TPs à préparer pour chaque binôme. --> <!--30 septembre : la nouvelle version du cours d'automatique de M1MNE est disponible [[Media: Cours_num_M1MNE.pdf|ici]] Vous pouvez également télécharger le support de cours partiel (remis à jour après le cours) [[Media:Support_cours_M1MNE.pdf|ici]] ainsi qu'une [[Media:Support_cours_M1MNE_imp.pdf|version imprimable]] sans couleurs.--> <!--17 mars : Les sujets de TP d'automatique de licence 3 ESA sont disponibles [[Media:TP_L3ESA_0708.pdf|ici]]. La version papier sera bientôt disponible chez Denis. 4 décembre : La nouvelle version du cours de recalage est prête. Vous pouvez l'obtenir [[Media:Recalage0708.pdf | ici]] ou sur la page [[GMCAO | des cours en ligne]] 21 novembre : Les sujets de TP de M1MNE sont disponibles en [[Media:TP_M1MNE_0708.pdf |version numérique]]. La version papier sera disponible le 28 novembre chez Denis. 21 novembre : Vous pouvez obtenir les corrigés partiels des TDs de M1MNE [[Media:correction_TD_M1MNE.pdf | ici]] --> =Curriculum Vitae= * 2000 : Diplôme d'ingénieur de l'ENSPS, Strasbourg. * 2000 : DEA Photonique Image et Cybernétique, ULP, Strasbourg. Stage de fin d'études au Center for Distributed Robotics de l'université de Minnesota sous la direction de N. Papanikolopoulos * 2005 : Thèse de doctorat, ULP, Strasbourg en robotique médicale sous la direction de M. de Mathelin. * Depuis septembre 2006 : Maître de Conférences à l'université de Strasbourg (anciennement ULP) =Responsabilités= * Responsable du parcours IRMC du master IRIV porté par TPS (M1 IMed / M2 IRMC) * Référent Alumnis et Association des Anciens élèves de l'école, responsable de l'enquête annuelle de la Conférence des Grandes Ecoles sur le devenir des diplômés =Fonctions d'enseignement= Maître de Conférences l' [http://www.unistra.fr/ Université de Strasbourg], rattaché à [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (école d'ingénieurs) depuis février 2019 (auparavant rattaché à la faculté de Physique et Ingénierie) <!--[http://www-ulp.u-strasbg.fr/]-->. ==Matières enseignées== === A TPS 3ème année, TIS option DTMI === * GMCAOs en chirurgie digestive <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Estimation de pose, recalage et asservissements visuels pour la robotique médicale ([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs]) <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> === TPS, M2 IRIV / IRMC === * Recalage en robotique médicale. ** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. === En licence ESA et Mécatronique 3ème année === * Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique === En master MNE 1ère année === * Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> **[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique] <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> **[[Media:Aide_RST.pdf|Aide à la synthèse RST]] <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> <!-- === Dans le cadre du PUF Strasbourg / Houston et Atlantis CRISP === * Cours sur le recalage et les asservissements visuels dans l'assistance aux gestes médico-chirurgicaux --> === TPS formation FIP 3ème année === * Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> ==Ecole d'été de robotique médicale== <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Présentation des asservissements visuels appliqués à la robotique médicale, donnée lors de la 8ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2019. [https://www.lirmm.fr/sssr-2019/ Lien] sur la page de l'école <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Recherche= Assistance robotisée aux gestes chirurgicaux : * [[Assistance à la suture]] en chirurgie laparoscopique * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://rdh.icube.unistra.fr/index.php/STRAS Assistance à la chirurgie endoluminale] (projet Isis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement, commande et télémanipulation d'un système robotique basé sur des endoscopes flexibles), puis projet de maturation EASE financé par SATT Conectus * Encadrement de thèses **Laurent Ott, thèse soutenue en novembre 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. **Bérengère Bardou, thèse soutenue en novembre 2011(Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) **Antonio De Donno, thèse soutenue en décembre 2013 (Assistance à la chirurgie endoluminale et à trocart unique) **Paolo Cabras, thèse soutenue en février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery : [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] **Laure-Anaïs Chanel, thèse soutenue en mars 2016 (Traitement par HIFU robotisé sous imagerie échographique) * Rafael Aleluia Porto, thèse soutenue en janvier 2021 (commande par apprentissage d'endoscopes flexibles) * Thèses en cours : ** Gaelle Thomas, depuis octobre 2018, avec J. Vappou et L. Barbé (Assistance robotisée à l'ouverture de la barrière hémato-encéphalique), dans le cadre du projet ANR 3BOPUS porté par CEA - Neurospin (B. Larrat) ** Thibault Poignonec, depuis octobre 2019 (commande partagée pour la chirurgie mini-invasive) * Co-encadrement : ** Fernando Gonzalez Herrera, depuis février 2020 ** Guiqiu Liao, depuis octobre 2019 ** Paul Mondou, depuis octobre 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> ==Thématiques== * Assistance robotique à l'endoscopie flexible, projet [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS] * Commande par vision * Asservissement visuels * Estimation par la vision * Planification de trajectoire * Robotique médicale et chirurgicale * Systèmes flexibles à câbles * Recalage par l'image ==Publications== ===Publications téléchargeables=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===Liste des publications=== <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> =Coin perso= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Centre ville depuis Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Dîner de bienvenue au Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | Vue nord depuis Columbia Center]] |} {| === Tokyo (Medical robotics seminar à l'ambassade de France) === |[[Image:P1010652.jpg|thumb|left|150px | Temple d'Asakusa]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo depuis Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | le plus grand "Mall" des USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Land of lakes (lake Calhoun)]] |} {| === Photos du Japon (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - le pavillon d'or]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe de jour]] |[[Image:cimg3460.jpg|thumb|left|200px | ... et de nuit]] |} {| === Photos de Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Soleil couchant]] |[[Image:cimg3031.jpg|thumb|left|200px | la "Sun Valley" depuis la "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | le repos du "best student"]] |} {| === Photos de Californie (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Banc de lions de mer]] |[[Image:cimg2173.jpg|thumb|left|200px | Véhicules de secours]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Photos de Pékin (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Palais d'été]] |[[Image:cimg0811.jpg|thumb|left|200px | Soupe à la tortue]] |[[Image:cimg0831.jpg|thumb|left|200px | Grande muraille dans la brume]] |} {| === Photos de l'Ontario (visite chez MDRobotics septembre 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Chutes du Niagara]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto depuis la tour CN]] |[[Image:cimg0646.jpg|thumb|left|150px | Tour CN, Toronto]] |} {| === Photos de San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palais]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dauphins en moyenne mer]] |} {| === Photos de Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | Chicago by night]] |[[Image:IMG_0331.jpg|thumb|left|200px | ...encore]] |[[Image:IMG_0350.jpg|thumb|left|200px | et de jour]] |} 810df3a05483d7a43f2e6186270d1e0a52b03b1b 168 166 2022-09-21T15:27:27Z Nageotte 14 wikitext text/x-wiki <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <center><B><font size="4">Maître de Conférences </font></B></center> <center><B><font size="4">Enseignant en Automatique, chercheur en Robotique </font></B></center> [[fichier:florent_nageotte_id3.jpg|thumb|right|150px]] <!--[[Image:florent_nageotte_id2.jpg|thumb|right|200px]]--> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> [http://rdh.icube.unistra.fr/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] <!-- = Offre de Stage de Master = == Computer vision for robotic flexible endoscopy == [[File:Master Internship proposal 2021.pdf|thumb|pdf file for internship proposal]] '''Title''' : Environment reconstruction using a monocular endoscopic camera '''Keywords''' : visual tracking, shape from motion, depth recovery, medical robotics '''Duration''' : approximately 5 months ''(ideally between february and august 2021)'' '''Grant''' : legal grant for training periods (~ 550 euros / month). '''Location''' : ICube Robotic platform, at IHU Strasbourg '''Context''' : This internship takes place in the scope of the assistance to medical procedures with robotic flexible endoscopes. The AVR team of the ICube laboratory has developed a robotic platform for endoluminal surgery called STRAS (see photo below). This is a telemanipulated system equipped with an endoscopic camera and two articulated instruments, with 3 degrees of freedom each. In addition to the conventional telemanipulation control, we aim at including automatic modes to the robot, with the aim to perform tasks such as automated scanning, or automatic endoscope positioning. For reaching this aim, one of the difficulties to be tackled is the reconstruction of the shape of the environment with the only available sensor: a monocular endoscopic camera. [[File:Vlcsnap-2019-03-22-14h30m11s559.jpg|thumb|Automatic task viewed from the endoscopic camera]] [[File:STRAS global copyright low res.jpg|thumb|STRAS robotic system]] '''Problem to be solved''' In this project, we aim at reconstructing the shape and position of the environment (tissues in in vivo environment, phantoms in laboratory setups) with respect to the endoscopic camera. The camera being monocular, shape and structure from motion will be primarily used to reconstruct the environment and motions up to a scale factor. Shape from shading could also be envisioned. The difficulties are the low quality of endoscopic images, the limited possible lateral displacement of the endoscope and the possible interactions of the instruments with the tissues creating disturbing motions and deformations. In a second step, we will try to reconstruct the metric shape and positions. This can be done by using odometric measurements on the endoscope. However, these measurements are known to be imprecise. Specific strategies, will thus be needed to recover the unknown scale factor, by using for instance Bayesian filtering approaches or machine learning techniques. '''Work to be carried out''' The intern will have to develop algorithms for shape reconstruction from monocular images by relying on state of the art methods for tissues tracking in endoscopy (gastroenterology in particular). Algorithms have already been implanted for pure tracking and can serve as a basis. Techniques for depth estimation will then be developed, by focusing on the use of embedded measurements provided by the robot encoders. If needed a second miniature camera could be added to the setup. Tests will be carried out in the laboratory on phantoms and on in vivo images acquired during previous preclinical trials. '''Work environment''' The internship will take place on the medical robotic platform of the ICube laboratory located at IHU (Institut Hospitalo Universitaire) in the heart of Strasbourg. The intern will be supervised by Florent Nageotte (associate professor in medical robotics) and Philippe Zanne (Engineer, responsible for the STRAS robotic system). The intern will have access to a computer for developing programs, to image acquisition systems, to in vivo images and to the robotic device for laboratory testing. Developments will be made in C / C++ or Python and possibly with Matlab for prototyping. ''Covid19 conditions'': In case of sanitary constraints that may prevent the internship to be realized on site, a large part of the work could be done at a distance by working on data acquired off-line. Only robotic testing will be made impossible. The intern will have to work on his/her own laptop either developing and running algorithms locally or at a distance on a connected machine. '''Candidates profile''' We are looking for Master students in the second year or students in engineering school at the level of Master 2, with major in computer vision or robotics / computer science with a strong interest / experience in computer vision. Interest in medical applications is a plus. Proficiency in C/C++ or Python coding is mandatory. '''Conditions''' 5 to 6 months between February 2021 and August / September 2021. The intern will receive the legal “gratification” (around 550€ / month) '''Application''' Interested candidates should send CV / resume, master program and grades (if available) and motivation letter to Nageotte@unistra.fr, by mentioning “computer vision internship” in the email subject. --> = Documents pédagogiques récents = == Pour les étudiants de M1MNE == <!-- * Les sujets de TP sont disponibles en [http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf version électronique]. --> <!-- * La correction du TD de rappel d'automatique analogique est [http://eavr.u-strasbg.fr/~nageotte/correction_rappel_analogique_2019.pdf disponible]. * La correction des exercices de TD non corrigés en séance est [http://eavr.u-strasbg.fr/~nageotte/correctionTD_1920.pdf disponible]. --> * Les supports de cours sont disponibles [http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf ici] (version déposée le 08/09/20). <!-- Une version imprimable est aussi disponible [http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2019_vimp.pdf ici] --> * Vous pouvez télécharger la version électronique du [http://eavr.u-strasbg.fr/~nageotte/Cours_num_M1MNE_2020.pdf cours] (déposée le 08/09/20) ainsi que les [http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf sujets de TD] (version du 08/09/20). <!-- * Pour ceux qui souhaitent réviser les bases de l'automatique continue, vous pouvez consulter les supports de cours de [http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf L3ESA et L3 mécatronique] ([http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf version imprimable]) --> <!-- == For the students of the "Medical Robotics" intensive course == * [http://eavr.u-strasbg.fr/~nageotte/Slides_MedicalRobotics_2020_vimp_4students.pdf Slides of the course (english)] * [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_PS.tar.gz Programs for practical session] --> <!--* [http://eavr.u-strasbg.fr/~nageotte/Support_cours_MedicalRobotics_2019_vimp_4students.pdf Supports de cours (français)]--> <!-- == Pour les étudiants de CentraleSupelec MAJ SIR == * [http://eavr.u-strasbg.fr/~nageotte/Support_cours_Supelec_2017_vimp_4students.pdf Support de cours] de robotique médicale --> <!-- == Pour les étudiants de M2 IRIV / IRMC == * Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1920_vimp4students.pdf version électronique] * fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices] * [http://eavr.u-strasbg.fr/~nageotte/Corrections_IRIV_1920.pdf Corrections] des exercices --> <!-- * Pour les étudiants de L3ESA et de L3 Mécatronique Les supports de cours sont disponibles [http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf ici]. --> <!-- Une version imprimable est également disponible [http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_18_vimp.pdf ici] --> <!-- == Pour les étudiants de TPS TIS 3A DTMI == --> <!-- ** Support de cours de [http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2015.pdf GMCAO chirurgie digestive] --> <!-- * [http://eavr.u-strasbg.fr/~nageotte/TP_etudiants.tar.gz Archive] du sujet et des fonctions pour les TPs de recalage --> <!-- * Support de cours d'[http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_estimation_pose_1920_vimp_4students.pdf estimation de pose] (version du mardi 10 septembre 2019). * [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule] d'exercices d'estimation de pose --> <!--* [http://eavr.u-strasbg.fr/~nageotte/Articles_EstimationPose.tar.gz Articles] pour le cours d'estimation de pose * [http://eavr.u-strasbg.fr/~nageotte/Yeung_flexible_platforms_review.pdf Document] pour le cours de GMCAO - Chirurgie digestive --> <!-- * [http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés] des exercices d'estimation de pose --> <!-- * [http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2017.pdf Transparents] du cours de GMCAO - Chirurgie digestive --> <!-- == Pour les étudiants de TPS FIP TIS 3A == * Support de cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] --> <!-- et de [http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP_1516_vimp_4students.pdf recalage] --> <!-- Support de cours [http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP_1617_vimp_4students.pdf recalage] --> <!-- * Pour les étudiants de TPS TICS 3A Support de cours (version temporaire du 22 octobre 2013) en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_TICS_1314_vimp.pdf version électronique] --> <!-- * Pour les étudiants de L3ESA Vous trouverez [http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_12.pdf ici] une version régulièrement mise à jour des transparents projetés pendant les cours (version du 18/01/12) --> <!-- ainsi qu'une version [http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_10_vimp.pdf imprimable] sans les bandeaux de couleur. --> <!-- * Pour les étudiants de FIP2A [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] des exercices des TDs concernant les fonctions de transfert, la stabilité et le lieu d'Evans et la correction numérique des systèmes. Notez que les TDs corrigés au tableau n'y figurent pas. Voici le [http://eavr.u-strasbg.fr/~nageotte/correction_TD_revision.pdf corrigé] du TD "Rappels d'automatique analogique". Attention, il y a une erreur dans l'énoncé de l'ex 4. Pour le correcteur proposé au d., il faut lire C(s) = 1/s. --> <!-- Vous trouverez [http://eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2012_2013.pdf ici] une version temporaire des transparents projetés pendant les cours (version du 19/10/12). La version électronique du polycopié du cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2012_2013_velec.pdf ici]. Les sujets de TDs sont accessibles [http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_FIP.pdf là]. Annales des examens des années passées : **[http://eavr.u-strasbg.fr/~nageotte/sujet_FIP_decembre_2010.pdf décembre 2010] [http://eavr.u-strasbg.fr/~nageotte/Corrige_dec2010.pdf Correction] **[http://eavr.u-strasbg.fr/~nageotte/sujet_FIP_juin_2011.pdf juin 2011] **[http://eavr.u-strasbg.fr/~nageotte/sujet_FIP_janvier_2012.pdf janvier 2012] [http://eavr.u-strasbg.fr/~nageotte/Correction_FIP_v1.pdf Correction] **[http://eavr.u-strasbg.fr/~nageotte/sujet_FIP_juin_2012.pdf juin 2012] Corrigé des TDs * [http://eavr.u-strasbg.fr/~nageotte/correction_TD_FIP_rappels.pdf Rappels d'analogique] Sujets de TP * [http://eavr.u-strasbg.fr/~nageotte/sujets_TP_FIP2A.pdf Version électronique] --> <!-- et le cours de FIP1A [http://eavr.u-strasbg.fr/~bernard/education/ensps_1a/index_1a.html de l'ENSPS] de B. Bayle --> <!-- * le cours de recalage proposé aux étudiants de Houston et de Télécom Paris est disponible [http://eavr.u-strasbg.fr/~nageotte/Slides_registration_09.pdf ici] (en anglais)--> <!--Les sujets de TP d'automatique de M1MNE sont disponibles [[Media: fascicule_TP.pdf|ici]]. Les rotations de groupes et binômes peuvent être consultées [[Media:rotations_tp_master_0809.pdf|ici]]. --> <!--Le [[Media: Transparent_cours_2008.pdf|support de cours]] limité à ce qui a été étudié en 2008 a été mis à jour.--> <!-- * Les sujets de TP d'automatique de L3ESA sont disponibles [[Media:Sujets_tp_L3ESA.pdf|ici]] ainsi que les [[Media:rotations.pdf|rotations]] des groupes et les TPs à préparer pour chaque binôme. --> <!--30 septembre : la nouvelle version du cours d'automatique de M1MNE est disponible [[Media: Cours_num_M1MNE.pdf|ici]] Vous pouvez également télécharger le support de cours partiel (remis à jour après le cours) [[Media:Support_cours_M1MNE.pdf|ici]] ainsi qu'une [[Media:Support_cours_M1MNE_imp.pdf|version imprimable]] sans couleurs.--> <!--17 mars : Les sujets de TP d'automatique de licence 3 ESA sont disponibles [[Media:TP_L3ESA_0708.pdf|ici]]. La version papier sera bientôt disponible chez Denis. 4 décembre : La nouvelle version du cours de recalage est prête. Vous pouvez l'obtenir [[Media:Recalage0708.pdf | ici]] ou sur la page [[GMCAO | des cours en ligne]] 21 novembre : Les sujets de TP de M1MNE sont disponibles en [[Media:TP_M1MNE_0708.pdf |version numérique]]. La version papier sera disponible le 28 novembre chez Denis. 21 novembre : Vous pouvez obtenir les corrigés partiels des TDs de M1MNE [[Media:correction_TD_M1MNE.pdf | ici]] --> =Curriculum Vitae= * 2000 : Diplôme d'ingénieur de l'ENSPS, Strasbourg. * 2000 : DEA Photonique Image et Cybernétique, ULP, Strasbourg. Stage de fin d'études au Center for Distributed Robotics de l'université de Minnesota sous la direction de N. Papanikolopoulos * 2005 : Thèse de doctorat, ULP, Strasbourg en robotique médicale sous la direction de M. de Mathelin. * Depuis septembre 2006 : Maître de Conférences à l'université de Strasbourg (anciennement ULP) =Responsabilités= * Responsable du parcours IRMC du master IRIV porté par TPS (M1 IMed / M2 IRMC) * Référent Alumnis et Association des Anciens élèves de l'école, responsable de l'enquête annuelle de la Conférence des Grandes Ecoles sur le devenir des diplômés =Fonctions d'enseignement= Maître de Conférences l' [http://www.unistra.fr/ Université de Strasbourg], rattaché à [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (école d'ingénieurs) depuis février 2019 (auparavant rattaché à la faculté de Physique et Ingénierie) <!--[http://www-ulp.u-strasbg.fr/]-->. ==Matières enseignées== === A TPS 3ème année, TIS option DTMI === * GMCAOs en chirurgie digestive <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Estimation de pose, recalage et asservissements visuels pour la robotique médicale ([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs]) <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> === TPS, M2 IRIV / IRMC === * Recalage en robotique médicale. ** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. === En licence ESA et Mécatronique 3ème année === * Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique === En master MNE 1ère année === * Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> **[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique] <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> **[[Media:Aide_RST.pdf|Aide à la synthèse RST]] <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> <!-- === Dans le cadre du PUF Strasbourg / Houston et Atlantis CRISP === * Cours sur le recalage et les asservissements visuels dans l'assistance aux gestes médico-chirurgicaux --> === TPS formation FIP 3ème année === * Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> ==Ecole d'été de robotique médicale== <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Présentation des asservissements visuels appliqués à la robotique médicale, donnée lors de la 8ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2019. [https://www.lirmm.fr/sssr-2019/ Lien] sur la page de l'école <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Recherche= Assistance robotisée aux gestes chirurgicaux : * [[Assistance à la suture]] en chirurgie laparoscopique * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://rdh.icube.unistra.fr/index.php/STRAS Assistance à la chirurgie endoluminale] (projet Isis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement, commande et télémanipulation d'un système robotique basé sur des endoscopes flexibles), puis projet de maturation EASE financé par SATT Conectus * Encadrement de thèses **Laurent Ott, thèse soutenue en novembre 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. **Bérengère Bardou, thèse soutenue en novembre 2011(Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) **Antonio De Donno, thèse soutenue en décembre 2013 (Assistance à la chirurgie endoluminale et à trocart unique) **Paolo Cabras, thèse soutenue en février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery : [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] **Laure-Anaïs Chanel, thèse soutenue en mars 2016 (Traitement par HIFU robotisé sous imagerie échographique) * Rafael Aleluia Porto, thèse soutenue en janvier 2021 (commande par apprentissage d'endoscopes flexibles) * Thèses en cours : ** Gaelle Thomas, depuis octobre 2018, avec J. Vappou et L. Barbé (Assistance robotisée à l'ouverture de la barrière hémato-encéphalique), dans le cadre du projet ANR 3BOPUS porté par CEA - Neurospin (B. Larrat) ** Thibault Poignonec, depuis octobre 2019 (commande partagée pour la chirurgie mini-invasive) * Co-encadrement : ** Fernando Gonzalez Herrera, depuis février 2020 ** Guiqiu Liao, depuis octobre 2019 ** Paul Mondou, depuis octobre 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> ==Thématiques== * Assistance robotique à l'endoscopie flexible, projet [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS] * Commande par vision * Asservissement visuels * Estimation par la vision * Planification de trajectoire * Robotique médicale et chirurgicale * Systèmes flexibles à câbles * Recalage par l'image ==Publications== ===Publications téléchargeables=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===Liste des publications=== <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> =Coin perso= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Centre ville depuis Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Dîner de bienvenue au Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | Vue nord depuis Columbia Center]] |} {| === Tokyo (Medical robotics seminar à l'ambassade de France) === |[[Image:P1010652.jpg|thumb|left|150px | Temple d'Asakusa]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo depuis Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | le plus grand "Mall" des USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Land of lakes (lake Calhoun)]] |} {| === Photos du Japon (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - le pavillon d'or]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe de jour]] |[[Image:cimg3460.jpg|thumb|left|200px | ... et de nuit]] |} {| === Photos de Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Soleil couchant]] |[[Image:cimg3031.jpg|thumb|left|200px | la "Sun Valley" depuis la "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | le repos du "best student"]] |} {| === Photos de Californie (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Banc de lions de mer]] |[[Image:cimg2173.jpg|thumb|left|200px | Véhicules de secours]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Photos de Pékin (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Palais d'été]] |[[Image:cimg0811.jpg|thumb|left|200px | Soupe à la tortue]] |[[Image:cimg0831.jpg|thumb|left|200px | Grande muraille dans la brume]] |} {| === Photos de l'Ontario (visite chez MDRobotics septembre 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Chutes du Niagara]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto depuis la tour CN]] |[[Image:cimg0646.jpg|thumb|left|150px | Tour CN, Toronto]] |} {| === Photos de San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palais]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dauphins en moyenne mer]] |} {| === Photos de Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | Chicago by night]] |[[Image:IMG_0331.jpg|thumb|left|200px | ...encore]] |[[Image:IMG_0350.jpg|thumb|left|200px | et de jour]] |} f233ea052ed1880942825bb5b6a3de5e232c686c 0 44 165 2022-09-21T11:36:17Z Nageotte 14 Created page with "=Contexte= La chirurgie abdominale par voie transluminale est une approche révolutionnaire qui consiste à introduire les instruments dans la cavité abdominale par un orif..." wikitext text/x-wiki =Contexte= La chirurgie abdominale par voie transluminale est une approche révolutionnaire qui consiste à introduire les instruments dans la cavité abdominale par un orifice naturel du patient à l'aide d'un endoscope flexible. Après incision d'une paroi interne (estomac, paroi interne du vagin, colon), l'endoscope flexible est amené dans la cavité abdominale jusqu'à l'organe cible (appendice, vésicule biliaire, ovaires...). Cette approche permet d'effectuer des diagnostics grâce au retour visuel offert par l'endoscope, mais également des actions thérapeutiques avec l'utilisation de micro-instruments de chirurgie. Les essais menés jusqu'à présent ont été réalisés pour la plupart à l'aide d'outils de gastroentérologie : des gastroscopes munis de un à deux canaux opérateurs permettant le passage de micro-instruments. L'approche transluminale, qui ne nécessite aucune incision dans la paroi abdominale contrairement à la laparoscopie ou la chirurgie ouverte, est indolore et permet un rétablissement immédiat du patient. La chirurgie abdominale par voie transgastrique telle que pratiquée aujourd'hui est à la frontière entre deux spécialités médicales. En effet, elle a pour but le traitement thérapeutique des organes de la cavité abdominale, spécialité des chirurgiens abdominaux, mais elle utilise les outils et emprunte les voies naturelles de gastroentérologie propre aux gastroentérologues. Les gastroscopes utilisés pour effectuer les opérations ont une partie distale active orientable selon deux directions orthogonales à l'aide de deux molettes présentes sur la poignée. Cette interface de contrôle n'est pas intuitive. Une fois le gastroscope introduit dans le patient, la navigation jusqu'à la zone d'intervention ne se fait qu'à partir du retour visuel offert par la caméra de l'endoscope. L'interface non-intuitive et le peu d'information visuel font du gastroscope un outil difficile à manier pour un non initié. Les chirurgiens doivent être formés et entraînés à l'utilisation de gastroscope pour atteindre la dextérité nécessaire au bon déroulement de l'intervention. De plus, une intervention par l'approche transgastrique nécessite l'utilisation simultanée du gastroscope et de micro-instruments de chirurgie. La présence et la coordination de plusieurs praticiens (un par instrument et un pour l'endoscope) sont alors indispensables pour accomplir l'opération. Les mouvements physiologiques des organes et du patient (respiration, mouvements du corps) sont des sources de perturbations sur l'endoscope flexible. La compensation de ces perturbations nécessite une coordination entre vision et mouvement de l'endoscope très complexe. Une bonne précision requiert donc un entraînement poussé du chirurgien. Il est intéressant d'envisager des solutions robotiques pour simplifier l'utilisation de tels outils. =Objectifs et Problématiques= * Apports de solutions d'assistance aux chirurgiens par l'utilisation de systèmes robotiques * Automatisation de mouvements en endoscopie flexible * Compensation des mouvements respiratoires en endoscopie flexible * Suivi d'indices visuels et d'instruments chirurgicaux dans les images endoscopiques =Travaux réalisés= ==Développement d'un endoscope motorisé== La première étape du projet a consisté à motoriser un gastroscope classique. Les molettes servant à orienter manuellement la tête de l'endoscope selon deux directions orthogonales ont été remplacées par deux moteurs. La commande du système est possible en utilisant une manette (type joystick) ou en définissant une consigne de direction directement dans l'image endoscopique. Pour ce prototype, l'enfoncement et la rotation de l'endoscope restent manuelles, de même que la manipulation des instruments de diagnostic ou d'intervention dans les canaux opérateur de l'endoscope. Les tests effectués in vivo à l'IRCAD sur un sujet porcin ont montré l'intérêt d'un tel système pour améliorer le déplacement et le contrôle de l'endoscope autour d'une position de travail nominale. ==Compensation de mouvements physiologiques== Malgré la motorisation partielle de l'endoscope, les interventions à l'aide d'endoscopes flexibles restent très délicates. Deux principales difficultés ont été identifiées. L'une est liée aux mouvements physiologiques. Lors d'une opération de découpe ou de brulure par exemple, le praticien doit simultanément agir sur l'instrument pour réaliser la tâche et manipuler l'endoscope pour le stabiliser par rapport à la cible anatomique qui est en mouvement du fait de la respiration du patient. La seconde difficulté provient du fait que les mouvementa appliqués sur le corps de l'endoscope par l'utilisateur au niveau de sa partie proximale (enfoncement) résultent en des mouvements difficilement prédictibles au niveau de la tête de l'endoscope (la forme de l'endoscope est imposée par les contacts avec les organes environnants). Pour apporter des éléments de réponse à ces problématiques, nous avons basé nos travaux sur les asservissements visuels. L'idée générale est de créer un lien virtuel entre la caméra endoscopique et une cible anatomique identifiée, de sorte que les mouvements physiologiques et les mouvements appliqués sur l'endoscope soient efficacement et automatiquement rejetés. Ainsi, l'utilisateur de l'endoscope n'a plus besoin de se préoccupper du suivi de la cible mais seulement de la manipulation des instruments. L'utilisation des informations visuelles fournie par la caméra endoscopique est particulièrement adaptées pour atteindre cet objectif, puisqu'elle fournit directement une relation entre position de la cible et de l'endoscope. ===Extraction de l'information visuelle=== La cible anatomique est définie par l'utilisateur en sélectionnant une fenêtre rectangulaire dans les images endoscopiques. Cette zone sert ensuite de référence à des algorithmes de suivi visuel. L'utilisateur peut redéfinir la référence à tout moment. La position de consigne de la région d'intérêt dans l'image est également définie en cliquant dans l'image endoscopique. ===Commande répétitive=== Dans une première approche nous avons développé un asservissement visuel classique qui permet d'asservir la région d'intérêt dans l'image. Toutefois, les imperfections mécaniques du système (jeux, zones mortes, retards) limitent fortement le compromis entre bande passante et stabilité de l'asservissement et ne permettent pas de rejeter les perturbations décrites précédemment. Afin de rejeter efficacement les perturbations liées au mouvement respiratoire, l'asservissement visuel a donc été couplé à un mécanisme de commande répétitive. Deux types de correcteurs ont été implémentés et testés : un correcteur de type PRC (Prototype repetitive Controller) et un correcteur de type prédictif (GPC) associé à un modèle de perturbation périodique. Ces correcteurs offrent des comportements très similaires en rejet de perturbations périodiques. Les vidéos suivantes montrent des tests effectués in vivo à l'ircad en utilisant un correcteur PRC. [http://eavr.u-strasbg.fr/~nageotte/transgastric1.avi] Les résultats obtenus pour le suivi d'organes sont très satisfaisants. Toutefois plusieurs comportements doivent être améliorés pour envisager une utilisation clinique du système. * Le réglage des correcteurs nécessite de connaître un modèle du système endoscopique. Or, les gains du système dépendent de la distance de la caméra endocopique à l'organe, qui est généralement inconnue. Un mauvais réglage peut potentiellement rendre le système instable. * Le comportement en suivi de consigne du correcteur PRC est problématique car les consignes sont suivies avec une période de perturbation de retard (de l'ordre de 4s). * Le comportement des correcteurs en rejet de perturbations non périodiques est gênant : ces perturbations sont considérées comme périodiques et ne sont rejetées qu'après un période de la perturbation périodique. Ces limitations sont particulièrement gênantes en endoscopie flexible où la caméra est embarquée sur le système portant les instruments. Ainsi, dans le cas de notre endoscope motorisé, l'enfoncement de l'endoscope est contrôlé manuellement et ces mouvements manuels agissent comme des perturbations inconnues et non périodiques sur l'asservissement visuel et induisent des modifications de profondeur (et donc de modèle). ===Identification ''in situ'' du modèle du système=== L'estimation de la profondeur qui intervient dans le modèle du système est un problème délicat. D'autre part l'endoscope a également un comportement non linéaire (jeux aux changements de direction) en raison de la perte de tension des câbles reliant la tête aux moteurs. Ces jeux dépendent de la configuration de la tête de l'endoscope mais aussi de la forme du corps de l'endosocope. Comme celle-ci est généralement inconnue et imposée par les organes, il est très difficile d'obtenir un modèle précis du système. Nous avons donc opté pour une estimation ''in situ'' des jeux (largeur de l'hystéresis) et de la matrice de gains statique reliant la vitesse des moteurs à la vitesse de la cible dans l'image. Cette estimation est réalisée une fois que l'endoscope a été amené près de sa position de travail et que la cible a été définie par l'utilisateur. Les gains et jeux sont estimés en mesurant les déplacements de la cible lors de mouvements en boucle ouverte contrôlés. La principale difficulté ici réside dans la présence des mouvements respiratoires qui perturbent la mesure. L'effet de la perturbation est donc initialement appris lorsque l'endoscope n'est pas actionné, puis elle est soustraite des mouvements mesurés lors du déplacement de l'endoscope. Cette technique d'estimation ''in situ'' permet d'utiliser le système sans avoir besoin de régler quoi que ce soit dans le correcteur. Ce travail a été soumis à la revue IEEE Transactions on Robotics. La vidéo suivante montre le comportement en rejet de perturbation périodique dans le cas d'un apprentissage ''in situ'' automatique. Contrairement à la vidéo précédente, aucun réglage n'est nécessaire ici. [http://eavr.u-strasbg.fr/~nageotte/tro09.avi] ===Améliorations de la commande répétitive=== Les perturbations engendrées par le déplacement manuel de l'endoscope peuvent être décomposées selon 2 axes : les changements de profondeur selon l'axe de la caméra et les perturbations perpendiculaires à cet axe. Nous avons développé des algorithmes de commande permettant de gérer au mieux ces 2 types de perturbations. Les variations de profondeur sont estimées à partir des modifications de la cible anatomique dans l'image en utilisant un modèle de transformation homographique. Ces variations de profondeur sont utilisées pour mettre à jour le tampon des commandes passées intervenant dans l'algorithme de commande répétitive, de sorte que les actions appliquées correspondent à la nouvelle profondeur de la cible (L.Ott et al. TBME09). Ce travail a reçu le prix du meilleur papier étudiant à la conférence Biorob08 (L.Ott et al., Biorob 08). La commande répétitive classique ne permet pas de rejeter l'autre partie des perturbations ou produit des répétitions inappropriées. Pour résoudre ce problème, nous avons développé un algorithme de commande à commutation. Un observateur permet de détecter l'arrivée d'une perturbation non prévue. La commande répétitive est alors déroutée pour une période, ce qui évite de répéter les actions de commandes de rejet de cette perturbation (L.Ott et al., Icra09 et ECC09). Ces algorithmes de commande ont été testés avec succès lors de plusieurs opérations in vivo menées sur modèle porcin à l'IRCAD à Strasbourg. Les améliorations dans le rejet des perturbations dues au mouvement manuel de l'endoscope sont importantes et n'affectent pas le rejet des perturbations prédites. Ainsi, la vidéo suivante montre la différence de comportement du système avec et sans commutation dans le cas d'une perturbation appliquée sur l'endoscope. [http://eavr.u-strasbg.fr/~nageotte/JNRR-LSIIT-Anubis.m2v] ===Conclusion=== L'ensemble de ces résultats montre la faisabilité d'un couplage entre commande manuelle et automatique d'un endoscope flexible. Il est donc tout à fait possible d'envisager un mode de commande coopératif chirurgien / asservissement visuel pour les endoscopes flexibles pour des applications intraluminales (gastroscopie) ou transluminales. ==Développement d'un système télémanipulé pour la chirurgie transluminale == == Développement d'un système robotique pour la chirurgie à trocart unique == =Participants= * Permanents : <!--** B. Bayle ** C. Doignon ** J. Gangloff--> ** M. de Mathelin ** [[Page_personnelle_de_Florent_Nageotte | F. Nageotte]] <!--** O. Piccin ** P. Renaud --> ** P. Zanne * Doctorants : ** L. Ott ** N. Masson ** B. Bardou <!-- * Stagiaires : ** G. ** C. Drouin --> =Proposition de thèse en lien avec le projet= * [[Sujets_de_th%C3%A8ses#Commande_d.E2.80.99un_syst.C3.A8me_robotique_pour_la_chirurgie_endoscopique_.C3.A0_acc.C3.A8s_unique | Commande d’un système robotique pour la chirurgie endoscopique à accès unique]] [[media:Sujet_these_isis.pdf | Descriptif du sujet]] Ce sujet de thèse sera financé par un CDD du CNRS et sur le projet ISIS du pôle de Compétitivité sur les Innovations Thérapeutiques "Alsace - Biovalley" Les [[media:dos-candidat-1.pdf | dossiers de candidature ]] doivent être envoyés avant le 30 avril 2010 à <br> Pr. Michel de Mathelin <br> IRCAD, <br> 1 place de l'hôpital <br> 67091 Strasbourg Cedex <br> N'hésitez pas à nous contacter si vous avez besoin d'aide pour les compléter. <!--Envoyer un CV et un relevé de notes de Master aux contacts suivants : * [mailto:demathelin@unistra.fr Michel de Mathelin] * [mailto:nageotte@unistra.fr Florent Nageotte] --> <!-- =Propositions de stages en lien avec le projet= Proposition de 2 sujets de stage de niveau master 2 de 5 à 6 mois pour la période janvier à août 2010 * Sujet de stage en '''vision par ordinateur / traitement d'images''' : Détection et localisation d'instruments chirurgicaux dans des images endoscopiques par des algorithmes de condensation. Application à l'assistance à la chirurgie transluminale [[Media:sujet_condensation.pdf | pdf]] ([[Media:Training_period_condensation.pdf | english version]]) * Sujet de stage en '''asservissements visuels''' : Asservissements visuels basés sur l'information mutuelle. Application à l'asservissement d'endoscopes médicaux [[Media:sujet_asservissement_entropy.pdf | pdf]] ([[Media:Training_period_entropy.pdf | english version]]) Les candidats interessés peuvent contacter Florent Nageotte par mail, en fournissant un CV détaillé. --> =Publications en lien avec le projet= <websiteFrame lg='fr' author='ott masson bardou ' equip='AVR' year='-1' annee1='2007' annee2='2009' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto </websiteFrame> =Partenaires= *[[http://www.ircad.org IRCAD]] (Institut de Recherche contre les Cancers de l'Appareil Digestif, Dir. Pr. J. Marescaux) * Karl Storz =Financements= * Projet Anubis dans le cadre du pôle de compétitivité "Innovations thérapeutiques" * Projet Isis dans le cadre du pôle de compétitivité "Alsace - Biovalley" * Région Alsace via l'attribution d'allocations pour les doctorants =Contacts= * [mailto:demath@eavr.u-strasbg.fr Michel de Mathelin] * [mailto:nageotte@eavr.u-strasbg.fr Florent Nageotte] * [mailto:zanne@eavr.u-strasbg.fr Philippe Zanne] a4241e26735cd8991c1195c9bfab7ed9706d2f1f 0 45 167 2022-09-21T15:26:20Z Nageotte 14 Created page with "<!--__NOTOC__--> <!-- = Open Positions= == Post-doctoral position in Computer Vision and Medical Robotics == '''Overview''': The ICube laboratory wish to hire a post-doctor..." wikitext text/x-wiki <!--__NOTOC__--> <!-- = Open Positions= == Post-doctoral position in Computer Vision and Medical Robotics == '''Overview''': The ICube laboratory wish to hire a post-doctoral fellow for 18 months for working on the combination of robotics and computer vision in the field of robotics flexible endoscopy. We are looking for a researcher with a PhD (or soon to be obtained) in robotics or computer vision who is motivated to work in the field of continuum robots for medical applications. '''Keywords''': Continuum robots, Vision-based control, Flexible endoscopy, Optical Coherence Tomography (OCT), Tumor margins assessment. '''Position in details''' The ICube laboratory is seeking a post-doctoral fellow for carrying research in the field of computer vision for medical robotics. The work will take place in the scope of the ROBOT project, which aims at developing new devices and tools combining robotics and Optical Coherence Tomography (OCT) for improving standard of care for cancers in the digestive tract. The project of the post-doctoral fellow will focus on developing tools for assisting surgeons in assessing margins by automatically scanning a specified area with an OCT probe. Defining correct margins for tumors removal is a key element of minimally invasive cancer treatment in the digestive tract. OCT images can be used for this purpose; however, it proves very difficult for surgeons to precisely and completely define the area to be treated because of manipulation issues and difficulties to make sense of the acquired data. In the scope of robot-assisted flexible endoscopy we want to explore the possibility to automatically scan the right area. For this purpose, a flexible robotic platform and a motorized OCT probe developed at the ICube laboratory will be used. The tasks to be carried out by the post-doctoral fellow will concern the development of original techniques by combining sensing methods relying on endoscopic images and OCT images and control schemes for driving robotic motions in order to realize precise movements and to ensure the correct scanning of the specified area. Challenges include: physiological motions, tissues deformation, complex behavior of the continuum instruments and difficult conditions for computer vision. '''Candidate profile''' We are looking for a highly motivated researcher with significant experience in computer vision and / or robotics control who wishes to enroll (or continue) in the exciting fields of continuum robots and computer-assisted medical interventions. Knowledge of continuum robots or medical applications or of OCT would be beneficial but are not mandatory. Mechatronic background / knowledge can also be valued in the scope of the project. A Doctoral degree is mandatory at the time of starting the fellowship. '''Skills''' Proficiency in one high-level programming language such as C / C++ or Python is required. Knowledge of OpenCV will be appreciated. Note that speaking French is not required. In this case B2 level in English will be necessary. '''Work environment''' The post-doctoral fellow will be integrated in the Control, Vison and Robotics (AVR) team of the ICube laboratory. Medical continuum robots and OCT are key themes of the laboratory, with several on-going projects and more to start shortly. The post-doctoral fellow will join an international team of people working in flexible endoscopy and OCT. The team has a long-standing and fruitful experience in the development of robotic flexible endoscopy and clinical translation of medical devices including OCT. The work will take place at the medical robotic platform of the ICube laboratory, located at the IRCAD, a world-renowned institute for research on cancer treatment. The place is located at the University hospital in the center of Strasbourg. Strasbourg is a vibrant town in the east of France, close to Germany. The University of Strasbourg is one of the most important Universities in France. '''Funding''' The project is supported by the INSERM (French Institute for health) through the « Plan Physics for Cancer » (project ROBOT) and a funding is provided for 18 months. Monthly gross salary is about 2500 Euros. '''Application''' Applications are accepted from now on. The call is open until fulfillment of the position. For applying send the following supporting material Florent Nageotte, Nageotte@unistra.fr : * CV * Motivation letter (please specify your current position and earliest availability date) * Name and contact of at least 2 referees * Copies of up to 3 relevant publications Interviews with the candidates will be organized on the fly upon reception of their application. '''Links''' * Website of ICube laboratory : http://icube.unistra.fr/en/ * Website of AVR team : http://icube-avr.unistra.fr/en/index.php/Main_Page * Webpage of robotic flexible endoscopy in Strasbourg : http://icube-avr.unistra.fr/en/index.php/STRAS * [[Media:post_doc_ROBOT_proposal.pdf|Proposal in pdf]] Contact for additional information: Florent Nageotte, Nageotte@unistra.fr --> = Overview of the project = <!--[[File:STRAS_animated_gif.gif|thumb|375px|left|Overview of STRAS]]--> [[File:STRAS_animated_gif_reloaded.gif|thumb|375px|left|Overview of STRAS]] STRAS is a teleoperated robotic prototype for assistance to flexible endoscopic surgery. The current version of the prototype (v2) has already been used in more than 20 procedures on animal models, mainly for simulated ESD (Endoscopic Submucosa Dissection) procedures. These medical procedures will be of major importance for the treatment of early colorectal cancers in the coming years. They are conventionally realized using standard colonoscopes, but due to the difficulty of the task, at the limit between gastro-enterology and surgery, only a few experts are actually able to perform the procedure in western countries. STRAS provides a large set of advantages for physicians during intraluminal colorectal procedures. The platform, based on Karl Storz® Anubis® system, allows the simultaneous standard use of two (and up to three) flexible instruments in a triangulated, laparoscopic-like, configuration. All mobilities (12 in total) of the endoscope and the instruments are robotized in a modular patented architecture (see below), allowing easy setup and manipulation of the medical components. STRAS provides great stability of the endoscope and instruments and major improvements in the comfort, intuitivness, and precision of control thanks to dedicated, patent-pending (see below), master interfaces. As demonstrated in many in vivo trials, STRAS can be easily teleoperated by a single surgeon for performing complex procedures, resulting in shorter and less tiring interventions. STRAS was developed by ICube (lab of the university of Strasbourg and the French National Center for Research (CNRS)) in partnership with the IRCAD (medical partner, Dr B. Dallemagne), with the technical support from Karl Storz (Tuttlingen, Germany). The project was funded by the French Minister of Economy (FUI Project ISIS) and by SATT Conectus through a "Prematuration" project. The work is currently brought forward by the same partners with the financial support from SATT Conectus with the objective to reach clinical trials. Telerobotlabs (Genova, Italy) acts as an outsourcing company for mechanical realization. [[File:teleoperation.jpg|thumb|375px|left|Teleoperation of STRAS v2 with the dedicated master interfaces during pre-clinical trials]] [[File:Stras_v2_audiovisuel.jpg|thumb|375px|right|Slave system of STRAS v2]] The video at [https://seafile.unistra.fr/f/82f9c2c3cc5c4dd983eb/ this link] shows some of the capabilities of the system. This [https://seafile.unistra.fr/f/367446adba/ other video] explains the current developments realized on STRAS. = Scope = Flexible endoscopy has long been used for diagnosis purposes only. But with the general trend in surgery to try to minimize invasiveness it has come a major tool for surgical procedures as shown by the development of specific flexible surgical platforms. Unfortunately these systems are not directly adapted to surgery. Several surgeons have to coordinate to manipulate the available DOFs, which result in difficult operations and potential high functioning costs. We envision a solution in the development of robotic tools for flexible endoscopic surgery. The aim of the ISIS project is to show that by using robotics it is possible for a single surgeon to perform surgical procedures intuitively with flexible systems. The chosen path to this goal is to build on existing asserted medical systems, such as flexible endoscopes manufactured by Karl Storz, rather than developing complete new systems. Issues arise at several levels (see the following for more details) : * Small-size mechanical design for developing light, compact and modular slave systems * Low-level control of cable-driven systems with significant non-linearities * Cartesian control of flexible instrument made difficult by imperfect models and lack of measurement solutions Overall the project includes mechanical development, low-level control, high level strategies and measurement solutions development. ''Keywords: Flexible endoscopy, continuum robots, teleoperation'' = Patents = * M. de Mathelin, F. Le Bastard, F. Nageotte, P. Zanne, L. Zorn Dispositif d'interface maître pour système endoscopique et installation comprenant un tel dispositif ( Master interface device for a motorised endoscopic system and installation comprising such device ). Dépôt de brevet français ( déposant : U. Strasbourg, CNRS et IRCAD ), n° FR1450560, le 23 janvier 2014, publication n° FR3016512, le 24 juillet 2015. Demande PCT, n° PCT/EP2015/051189, le 22 janvier 2015, publication n° WO 2015/110495, le 30 juillet 2015 * L. Zorn, M. de Mathelin, P. Zanne, F. Nageotte Dispositif d’instrumentation motorisé et modulable et système d’endoscope comprenant un tel dispositif ( Motorised and modular instrumentation device and endoscopy system comprising such a device ). Dépôt de brevet français ( déposant : U. Strasbourg et CNRS ), n° FR12/52109, le 8 mars 2012, publication n° FR2987734, le 13 septembre 2013, délivrance , le 11 avril 2014. Demande PCT, n° PCT/FR2013/050487, le 8 mars 2013, publication n° WO2013132194, le 12 septembre 2013. Dépôt de brevet européen le 8 mars 2013, n° EP13786533.3, publication le 14 janvier 2015, n° EP2822446. Dépôt de brevet US le 8 mars 2013, n° US14/382,915, publication le 25 décembre 2014, n° US2014378761. = Related publications = * L. Zorn, F. Nageotte, P. Zanne, A. Legner , B. Dallemagne , J. Marescaux , M. de Mathelin [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * P. Cabras, F. Nageotte, P. Zanne, C. Doignon An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images, International Journal of Medical Robotics and Computer Assisted Surgery * P. Cabras, D. Goyard , F. Nageotte, P. Zanne, C. Doignon Comparison of Methods for Estimating the Position of Actuated Instruments in Flexible Endoscopic Surgery, International Conference on Intelligent Robots and Systems (IROS), Chicago, United States, septembre 2014 * A. de Donno, F. Nageotte, P. Zanne, L. Zorn, M. de Mathelin Master / Slave Control of Flexible Instruments for Minimally Invasive Surgery, IEEE International Conference on Intelligent Robots and Systems, Tokyo, Japan, novembre 2013 * A. de Donno, L. Zorn, P. Zanne, F. Nageotte, M. de Mathelin Introducing STRAS: A New Flexible Robotic System for Minimally Invasive Surgery, IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, mai 2013 = Persons involved in the project = * PhD students: T. Poignonec (from October 2019), R. Aleluia Porto (since December 2016) * Research engineers: Ph. Zanne (Low-level software development, electrical design and realization), L. Goffin (GUI Software development and software validation) * Researchers: F. Nageotte, M. de Mathelin * Past engineers : L. Zorn (mechatronic design and realization), F. LeBastard (Mechatronic design) * Past PhD students: P. Cabras (vision-based measurement), A. De Donno (teleoperation), B. Bardou (teleoperation and control), L. Ott (vision-based control) * Past Master students : T. Poignonec (backlash compensation), X.T. Ha (visual tracking), M.A. Falek (telemanipulation analysis), N. Shepeleva (vision-based measurement), D. Goyard (learning and vision-based measurements), F. Le Bastard (mechanical transmission modelling) <!--, Z. Zarrouk (control)--> = Contacts = [mailto:Nageotte@unistra.fr Florent Nageotte], Philippe Zanne, Lucile Zorn = Partners = The EASE / STRAS project is developed in collaboration with Karl Storz GmBH and surgeons from the IRCAD (Dr B. Dallemagne, Dr S. Peretta) and the IHU (A. Legner). EASE prototype has been partly outsourced to TelerobotLabs (Genova, Italy). Axilum Robotics provides support for software and regulations. R. aleluia Porto is parlty funded by CAMI labex. P. Cabras was funded by CAMI labex and his thesis project was in collaboration with Agathe team (ISIR Paris). STRAS v2 realization was partly outsourced to Sandmann company (Bennwihr Gare, France) and Opticab. = Recent facts = * April 2019: An article demonstrating the medical interest of the STRAS platform through preclinical trials has been publised in "Gastroenterology" * April 28, 2018: An article in the magazine "L'Express" speaks about the STRAS robot * April 27, 2018: Rafael Aleluia Porto receives the award for the best presentation at the FMTS days in Strasbourg * April 2018: Published paper in IEEE Transactions on biomedical Engineering appears in "TBME Highlights" * March 28 / 29, 2018: The novel prototype was successfully tested on animals (4 ESD realized). * March 19, 2018: Tests on animals at the IRCAD. 3 ESD successfully realized. * November 2017: Presentation at Surgetica conference in Strasbourg * September 2017: Finalist "best paper award" at CRAS Workshop in Montpellier = In details = == Visual control of flexible endoscopes == == STRAS : a robotic system for intraluminal surgery == During the ISIS project, we have developed a robotic prototype based on the Anubis platform from Karl Storz. The proposed system is modular and consists of three kinds of modules: * an endoscope module, which motorizes the four-ways deflection of the main endoscope tip * instruments modules, which enables the two-ways deflection of instruments. They come in two flavours: electrical instruments modules for instruments needing electrical pluging, such as electro-coagulation tools and mechanical instruments needing an opening / closing capability, such as scisors or graspers. * Translation and Rotation modules (T/RMs) which allow the rotation and translation of the instruments inside the channels of the main endoscope. TR/Ms and the endoscope modules are mounted onto passive positioning arms, which can be attached to the operating table. With this structure only two T/RMs are needed, whatever the number of instruments required for the surgery. The whole motorization is located at the proximal side, which makes the robotic system easily compatible with medical constraints. This slave system can be teleoperated using two master interfaces, enabling a single user to control all degrees of freedom. First tests have been performed in the lab, which have shown that STRAS allows a better and more comfortable control of the flexible instruments than in the manual version. [[File:Stras_vue_globale.jpg|thumb|300px|left|Overview of STRAS v1]] [[File:Stras_vue_STRAS.jpg|thumb|400px|center|Motorization on the proximal part of STRAS v1]] <br /> <br /> <br /> <br /> <br /> <br /> <!-- [[File:mrguide.jpg|400px]] [[File:mrguide2.jpg|400px]] --> == Control of flexible systems == Flexible systems used in the STRAS prototype have very particular behaviours due to their kinematic properties (singularities at the straight position) and their mechanical actuation (cable driven systems) which makes their control difficult. We are investigating how to improve the control of these systems at two levels: At low level we try to understand the local behaviour of the flexible systems and at higher level we analyze the effect of the choices of master / slave control modes and mappings on the overall control capabilities. == Visual measurement == Because of frictions, backlash and deadzones, it is difficult to estimate the position of instruments using only internal sensors such as motor encoders. On the other hand there are no commercially available sensors which can be integrated inside small diameter instruments and which would allow to measure small enough radii of curvature. For improving the control of flexible instruments, we work on the use of the endoscopic images for measuring the positions and motions of the instruments. This information can be fused with encoders measurements to improve the obtained accuracy. In the PhD thesis of Paolo Cabras, we developed image processing and computer vision tools allowing to measure the position of flexible instruments using mainly the embedded endoscopic camera. The approach is based on the use of color markers attached to the bendable part of the flexible instruments. We developed graph-based techniques which allow to extract and reconstruct the image structure of the instruments despite possible partial occultations, the strong specularities caused by direct lighting and numerous reflections onto organs. Because of the space necessary for allowing instruments to slide and rotate inside the guide channels, it is difficult to accurately modelize the position and orientation of instruments with respect to the embedded camera. Consequently, standard model-based approaches fail to estimate the position of instruments even when features are correctly extracted. Therefore we proposed an adaptive method, which allows to automatically adapt to change in position and orientation of the instrument in the channels and provide good estimation capabilities. We also investigated the possibility to use learning-based approches for pose estimation. Learning techniques can avoid modeling at all the link between positions and images and learn it from demonstrations if a ground truth can be made available during a training stage. We adapted several learning techniques, such as RBF and LWR, to the estimation problem and were able to obtain similar accuracy than with models, but with the avantage of using simpler image features. = Major past facts (see also section "Recent Facts") = * Mai 2 2016: Presentation of STRAS to 250 engineers from Siemens, during Siemens days at IRCAD * Feb. 24 2016: PhD defense of Paolo Cabras on the pose estimation of flexible instruments of STRAS from monocular vision. The comitee was composed by A. Casals (President), G. Morel (reviewer), N. Andreff (reviewer), M. de Mathelin (examiner), C. Doignon (PhD supervisor), F. Nageotte (PhD Advisor) * Jun. 26 2015: STRAS successfully tested for single port procedures: Simulated appenditectomy, cholecystectomy, dissection of the gastro-oesophageal junction * May 11: STRAS presented to J.M Le Guen, State secretary for relations with the parliament and physician * Dec. 2014 : Success of in vivo trials of ESD on pigs * Sep. 2014 : Start of a new project, called "EASE", for developing a clinical version of STRAS. EASE is Funded by SATT Conectus with support of Karl Storz and IRCAD * Sep 2014 : new project for developing a clinical version of STRAS funded by SATT Conectus with support of Karl Storz * Sep. 1/2 2014 : in vivo experiments at the IRCAD * Feb. 12 2014 : Alsace 20 (TV broadcaster) has filmed STRAS v2 for broadcast program Lab20 to be seen on friday feb. 14 and on the website of Alsace 20 from feb. 17. * Feb. 5 2014 : In vivo tests of ESD with a novice surgeon * Jan. 30 2014 : Demonstration of STRAS v2 to M. F. Hollande, president of the republic during his visit at IRCAD * Jan. 30 2014 : Demonstration of STRAS v2 to Mrs Storz, CEO of Karl Storz * Jan. 10 2014 : Demonstration of STRAS v2 to a Karl Storz delegation * Jan. 7 2014 : Demonstration of STRAS v2 to a delegation of Covidien * Dec. 19 2013 : Second operation tests on animals * Dec. 13 2013 : A. De Donno successfully defended his PhD. The defense took place in the "Salle des Actes" at the faculty of Medicine in Strasbourg. The jury was composed by Ph. Cinquin (President), A. Menciassi (reviewer), J. Szewczyk (reviewer), M. de Mathelin and F. Nageotte. * Dec. 5 2013 : First in vivo tests of STRAS v2. Our medical partners at IRCAD successfully performed an ESD in an animal. * Nov. 4 2013 : F. Nageotte presented control strategies for STRAS at IROS in Tokyo. * Oct. 29 2013 : First ex vivo tests of STRAS v2. Successful fake ESD in a pig stomach. * Oct. 24 2013 : First lab tests of the new version of STRAS (v2) on chicken breast. * Oct 2013 : Second version of STRAS has been assembled * May 2013 : A. De Donno presented STRAS at IEEE ICRA in Karlsruhe * Presentation of STRAS robotic system during visits of Siemens HealthCare CEO (march 12), Mrs Sybil Storz, CEO of Karl Storz (march 13) and M. Louis Gallois (Commissaire général à l'investissement) (march 14). * Nov. 30 2012 : Presentation of STRAS robotic system at the IRCAD during Sanofi CEO visit * Nov. 29 2012 : first trials by IRCAD surgeons * oct. 2012 : presentation of surgical simulator at the "Fête de la Science" in Strasbourg * Oct. 2012 : Paolo Cabras has joined the project as PhD student working on image processing tools for system control * 2011 : Presentation of STRAS system at the IRCAD lab during visit of Laurent Wauquiez, minister of research and higher education d93a557e7012933cee73c89aa95c415a413402fd 0 46 169 2022-09-21T15:31:34Z Nageotte 14 Created page with "<center><B><font color="#0066BB" size="5"> Associate Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbour..." wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Associate Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> =Curriculum Vitae= * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shool, Strasbourg. Major in robotics. =Responsibilities= * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In TPS, Healthtech Master and Third year TIS DTMI (M2 level), === * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation de pose, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> === TPS, M2 IRIV / IRMC === * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> === Electronic systems and Mechatronics Bachelor (Third year) === * Course and tutorials on continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> === Micro and Nano Electronics Master (First year) === * Course and tutorials on discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === TPS FIP Third year === * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses supervision (defended theses) ** Gaelle Thomas, defended on October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Laure-Anaïs Chanel, thèse soutenue en mars 2016 (Traitement par HIFU robotisé sous imagerie échographique, funded by CAMI labex) ** Paolo Cabras, defendd in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021 ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), since October 2019 (Shared control for minimally invasive surgery) * Co-supervisions: ** Fernando Gonzalez Herrera, (with Benoit Rosa,Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020 ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University Verona), since October 2019 ** Paul Mondou (with Jonathan Vappou and Benoit Larrat (CEA Neurospin)), funded by CAMI Labex, since October 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** François Lavieille ** Thibault Poignonec ** Xuan Thao Ha ** Mohamed Amine Falek == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 • Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » • Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | ff4658d5c6a13a127931136d6e76ea1cbed48cab 0 47 170 2022-09-26T09:33:39Z Jvappou 10 Created page with "The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical..." wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. === Main contacts: === *Bernard Bayle, Bernard.bayle(at)unistra.fr *Julien Garnon, julien.garnon(at)chru-strasbourg.fr *Laurence Meylheuc, laurence.meylheuc(at)insa-strasbourg.fr == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ === Main contacts: === Pierre Renaud, pierre.renaud(at)unistra.fr Lennart Rubbert, lennart.rubbert(at)insa-strasbourg.fr Laurent Barbé, barbe(at)unistra.fr 0a6a539b671794989a2402aed33f313a6bfcfde6 171 170 2022-09-26T09:35:38Z Jvappou 10 wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. === Main contacts === *Bernard Bayle, Bernard.bayle(at)unistra.fr *Julien Garnon, julien.garnon(at)chru-strasbourg.fr *Laurence Meylheuc, laurence.meylheuc(at)insa-strasbourg.fr == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ === Main contacts === *Pierre Renaud, pierre.renaud(at)unistra.fr *Lennart Rubbert, lennart.rubbert(at)insa-strasbourg.fr *Laurent Barbé, barbe(at)unistra.fr == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. === Main contacts === *Florent Nageotte, nageotte(at)unistra.fr *Philippe Zanne, zanne.philippe(at)unistra.fr ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. ===Main contacts=== *Elodie Breton, ebreton(at)unistra.fr *Jonathan Vappou, jvappou(at)unistra.fr ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/] ===Main Contacts=== *Jonathan Vappou, jvappou(at)unistra.fr *Paolo Cabras, cabras(at)unistra.fr a60581e672b219d586b0b7fd940ce48a840ec6ea 172 171 2022-09-26T09:37:31Z Jvappou 10 wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. === Main contacts === *Bernard Bayle, Bernard.bayle(at)unistra.fr *Julien Garnon, julien.garnon(at)chru-strasbourg.fr *Laurence Meylheuc, laurence.meylheuc(at)insa-strasbourg.fr == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ === Main contacts === *Pierre Renaud, pierre.renaud(at)unistra.fr *Lennart Rubbert, lennart.rubbert(at)insa-strasbourg.fr *Laurent Barbé, barbe(at)unistra.fr == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. === Main contacts === *Florent Nageotte, nageotte(at)unistra.fr *Philippe Zanne, zanne.philippe(at)unistra.fr ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. ===Main contacts=== *Elodie Breton, ebreton(at)unistra.fr *Jonathan Vappou, jvappou(at)unistra.fr ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] ===Main Contacts=== *Jonathan Vappou, jvappou(at)unistra.fr *Paolo Cabras, cabras(at)unistra.fr 9655ca712fdeae73132aa55e0a93c6f0ece36df2 0 48 173 2022-09-26T09:47:41Z Jacques.gangloff 11 Created page with "test" wikitext text/x-wiki test a94a8fe5ccb19ba61c4c0873d391e987982fbbd3 175 173 2022-09-26T10:43:41Z Jacques.gangloff 11 wikitext text/x-wiki == Complex Systems == Iulia, Hassan, Loïc, Sylvain === Event-Based Control === === Non Linear Predictive Control === === A Completer === == Parsimony == === Flexible Mechanisms === Lennart, Marc === Cable-Driven Parallel Robotics === Jacques, Loïc, Sylvain === Aerial Manipulation === Jacques, Loïc, Sylvain == Embedded Vision == Adlane, Christophe 57b0dab2e88406638608230a5743e0d830312320 176 175 2022-09-26T10:46:24Z Jacques.gangloff 11 /* Embedded Vision */ wikitext text/x-wiki == Complex Systems == Iulia, Hassan, Loïc, Sylvain === Event-Based Control === === Non Linear Predictive Control === === A Completer === == Parsimony == === Flexible Mechanisms === Lennart, Marc === Cable-Driven Parallel Robotics === Jacques, Loïc, Sylvain === Aerial Manipulation === Jacques, Loïc, Sylvain == Low Computer Ressource Vision == Adlane, Christophe === Active markers === === Knowledge/Vision Interaction === d7ccb6a2f1a67a5ce44d873821a9844f0504379b 177 176 2022-09-26T10:47:23Z Jacques.gangloff 11 /* Active markers */ wikitext text/x-wiki == Complex Systems == Iulia, Hassan, Loïc, Sylvain === Event-Based Control === === Non Linear Predictive Control === === A Completer === == Parsimony == === Flexible Mechanisms === Lennart, Marc === Cable-Driven Parallel Robotics === Jacques, Loïc, Sylvain === Aerial Manipulation === Jacques, Loïc, Sylvain == Low Computer Ressource Vision == Adlane, Christophe === Active Markers === === Knowledge/Vision Interaction === 3c29671cb6bae664b07827d2f617fdd7d4b2cb2f 178 177 2022-09-26T10:49:11Z Jacques.gangloff 11 wikitext text/x-wiki == Complex Systems == === Event-Based Control === Sylvain === Non Linear Predictive Control === Loïc === A Completer === Iulia, Hassan == Parsimony == === Flexible Mechanisms === Lennart, Marc === Cable-Driven Parallel Robotics === Jacques, Loïc, Sylvain === Aerial Manipulation === Jacques, Loïc, Sylvain === Active Markers === Christophe === Knowledge/Vision Interaction === Adlane 211872b05ebb66f898574bb2b3edf93600f58b25 179 178 2022-09-26T12:04:05Z Jacques.gangloff 11 wikitext text/x-wiki == Complex Systems == The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. The advanced control of these systems allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. === Event-Based Control === Sylvain === Non Linear Predictive Control === Loïc === A Completer === Iulia, Hassan == Parsimony == === Flexible Mechanisms === Lennart, Marc === Cable-Driven Parallel Robotics === Jacques, Loïc, Sylvain === Aerial Manipulation === Jacques, Loïc, Sylvain === Active Markers === Christophe === Knowledge/Vision Interaction === Adlane 37c47bc8f5be41cbba7d0345c009273a2bff0725 180 179 2022-09-26T12:05:33Z Jacques.gangloff 11 /* Complex Systems */ wikitext text/x-wiki == Complex Systems == The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. === Event-Based Control === Sylvain === Non Linear Predictive Control === Loïc === A Completer === Iulia, Hassan == Parsimony == === Flexible Mechanisms === Lennart, Marc === Cable-Driven Parallel Robotics === Jacques, Loïc, Sylvain === Aerial Manipulation === Jacques, Loïc, Sylvain === Active Markers === Christophe === Knowledge/Vision Interaction === Adlane 95a5bd9207e1eda1e37d3691d956ee15f1d040cd 181 180 2022-09-26T12:16:33Z Jacques.gangloff 11 /* Complex Systems */ wikitext text/x-wiki == Complex Systems == The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. === Event-Based Control === Sylvain === Non Linear Predictive Control === Loïc === A Completer === Iulia, Hassan == Parsimony == === Flexible Mechanisms === Lennart, Marc === Cable-Driven Parallel Robotics === Jacques, Loïc, Sylvain === Aerial Manipulation === Jacques, Loïc, Sylvain === Active Markers === Christophe === Knowledge/Vision Interaction === Adlane 19cc42493fd02ed19570b56cb6dd4caa004c920c 182 181 2022-09-26T12:18:32Z Jacques.gangloff 11 /* Event-Based Control */ wikitext text/x-wiki == Complex Systems == The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. === Event-Based Control === Sylvain Durand, mailto:sdurand@unistra.fr === Non Linear Predictive Control === Loïc === A Completer === Iulia, Hassan == Parsimony == === Flexible Mechanisms === Lennart, Marc === Cable-Driven Parallel Robotics === Jacques, Loïc, Sylvain === Aerial Manipulation === Jacques, Loïc, Sylvain === Active Markers === Christophe === Knowledge/Vision Interaction === Adlane 984966c029af5648341580a99ea44f0909276b81 183 182 2022-09-26T12:19:01Z Jacques.gangloff 11 /* Event-Based Control */ wikitext text/x-wiki == Complex Systems == The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. === Event-Based Control === Sylvain Durand, [sdurand@unistra.fr mailto:sdurand@unistra.fr] === Non Linear Predictive Control === Loïc === A Completer === Iulia, Hassan == Parsimony == === Flexible Mechanisms === Lennart, Marc === Cable-Driven Parallel Robotics === Jacques, Loïc, Sylvain === Aerial Manipulation === Jacques, Loïc, Sylvain === Active Markers === Christophe === Knowledge/Vision Interaction === Adlane 38c6d6b121d638de9eb931cd91c98ad0f09e764b 184 183 2022-09-26T12:19:13Z Jacques.gangloff 11 /* Event-Based Control */ wikitext text/x-wiki == Complex Systems == The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. === Event-Based Control === Sylvain Durand, [sdurand@unistra.fr|mailto:sdurand@unistra.fr] === Non Linear Predictive Control === Loïc === A Completer === Iulia, Hassan == Parsimony == === Flexible Mechanisms === Lennart, Marc === Cable-Driven Parallel Robotics === Jacques, Loïc, Sylvain === Aerial Manipulation === Jacques, Loïc, Sylvain === Active Markers === Christophe === Knowledge/Vision Interaction === Adlane 5fed88d89f4ab547a18e140883fcc79d61d346c2 185 184 2022-09-26T12:20:03Z Jacques.gangloff 11 /* Event-Based Control */ wikitext text/x-wiki == Complex Systems == The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] === Non Linear Predictive Control === Loïc === A Completer === Iulia, Hassan == Parsimony == === Flexible Mechanisms === Lennart, Marc === Cable-Driven Parallel Robotics === Jacques, Loïc, Sylvain === Aerial Manipulation === Jacques, Loïc, Sylvain === Active Markers === Christophe === Knowledge/Vision Interaction === Adlane 58d5a413ece5cd7afe8e3391aa9ce29cc6ac9ac8 186 185 2022-09-26T12:21:11Z Jacques.gangloff 11 /* Non Linear Predictive Control */ wikitext text/x-wiki == Complex Systems == The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] === Non Linear Predictive Control === Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] === A Completer === Iulia, Hassan == Parsimony == === Flexible Mechanisms === Lennart, Marc === Cable-Driven Parallel Robotics === Jacques, Loïc, Sylvain === Aerial Manipulation === Jacques, Loïc, Sylvain === Active Markers === Christophe === Knowledge/Vision Interaction === Adlane a8787314d887e3930822d947d96a8046bdf9a046 187 186 2022-09-26T12:22:38Z Jacques.gangloff 11 /* Flexible Mechanisms */ wikitext text/x-wiki == Complex Systems == The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] === Non Linear Predictive Control === Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] === A Completer === Iulia, Hassan == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines === Cable-Driven Parallel Robotics === Jacques, Loïc, Sylvain === Aerial Manipulation === Jacques, Loïc, Sylvain === Active Markers === Christophe === Knowledge/Vision Interaction === Adlane 92cb35f3ea74f6719db6f09bb3ed74f01c6ff5cf 188 187 2022-09-26T12:23:39Z Jacques.gangloff 11 /* Flexible Mechanisms */ wikitext text/x-wiki == Complex Systems == The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] === Non Linear Predictive Control === Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] === A Completer === Iulia, Hassan == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] === Cable-Driven Parallel Robotics === Jacques, Loïc, Sylvain === Aerial Manipulation === Jacques, Loïc, Sylvain === Active Markers === Christophe === Knowledge/Vision Interaction === Adlane d3d476ab99ac5eeb362235c9c178bece504aa7ba 189 188 2022-09-26T12:28:19Z Jacques.gangloff 11 /* Cable-Driven Parallel Robotics */ wikitext text/x-wiki == Complex Systems == The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] === Non Linear Predictive Control === Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] === A Completer === Iulia, Hassan == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] === Aerial Manipulation === Jacques, Loïc, Sylvain === Active Markers === Christophe === Knowledge/Vision Interaction === Adlane ad6714aa4c92dc1ada05a9e2834ca90ec1933045 190 189 2022-09-26T12:28:44Z Jacques.gangloff 11 /* A Completer */ wikitext text/x-wiki == Complex Systems == The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] === Non Linear Predictive Control === Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] === A Completer === Iulia, Hassan, Edouard == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] === Aerial Manipulation === Jacques, Loïc, Sylvain === Active Markers === Christophe === Knowledge/Vision Interaction === Adlane 185ede5dbf303c29e4c7af6f6cfa176c01b6cd15 191 190 2022-09-26T12:32:59Z Jacques.gangloff 11 /* Aerial Manipulation */ wikitext text/x-wiki == Complex Systems == The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] === Non Linear Predictive Control === Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] === A Completer === Iulia, Hassan, Edouard == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] === Active Markers === Christophe === Knowledge/Vision Interaction === Adlane 83686eeb531dbab3e4ec777e291fa35cf67605d0 192 191 2022-09-26T12:33:16Z Jacques.gangloff 11 /* Knowledge/Vision Interaction */ wikitext text/x-wiki == Complex Systems == The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] === Non Linear Predictive Control === Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] === A Completer === Iulia, Hassan, Edouard == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] === Active Markers === Christophe === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] bcac6654d97ffeea99e16072921a05c59fa0a551 193 192 2022-09-26T12:34:06Z Jacques.gangloff 11 /* Active Markers */ wikitext text/x-wiki == Complex Systems == The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] === Non Linear Predictive Control === Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] === A Completer === Iulia, Hassan, Edouard == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 38d9bfc2d906125030a134527633074cb719653b 194 193 2022-09-26T12:35:00Z Jacques.gangloff 11 wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] === Non Linear Predictive Control === Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] === A Completer === Iulia, Hassan, Edouard == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 9006d6dc65db25a99cf30480f3e78f37b0aecbb0 195 194 2022-09-26T12:38:44Z Jacques.gangloff 11 /* Cable-Driven Parallel Robotics */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] === Non Linear Predictive Control === Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] === A Completer === Iulia, Hassan, Edouard == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force -- a cable can only pull and not push -- and elasticity. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] e2a2092cc005f18c190d61f6cf6d589a5d5c4d46 196 195 2022-09-26T12:39:12Z Jacques.gangloff 11 /* Cable-Driven Parallel Robotics */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] === Non Linear Predictive Control === Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] === A Completer === Iulia, Hassan, Edouard == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] c8d0d20d6807999b52511239e5292b33dec13fcf 197 196 2022-09-26T12:45:57Z Jacques.gangloff 11 /* Cable-Driven Parallel Robotics */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] === Non Linear Predictive Control === Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] === A Completer === Iulia, Hassan, Edouard == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the en-effector this robot to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 35d5db217e6f3a82ee815b3b5d91701d6fab9676 198 197 2022-09-26T12:47:57Z Jacques.gangloff 11 /* Cable-Driven Parallel Robotics */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] === Non Linear Predictive Control === Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] === A Completer === Iulia, Hassan, Edouard == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 219c7b987ef6283f0a7c1f4a5ee5c9c2bdaf066e 199 198 2022-09-26T12:53:54Z Jacques.gangloff 11 /* Cable-Driven Parallel Robotics */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] === Non Linear Predictive Control === Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] === A Completer === Iulia, Hassan, Edouard == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube">https://www.youtube.com/watch?v=eAORm-8b1Eg</embedvideo> === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] d991dcbe0d2d3abb85c3e1431903ca46253d6c53 200 199 2022-09-26T12:57:10Z Jacques.gangloff 11 /* Cable-Driven Parallel Robotics */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] === Non Linear Predictive Control === Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] === A Completer === Iulia, Hassan, Edouard == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] fb248b4a32d952942c8de074d88afeb52f04326e 201 200 2022-09-26T12:57:48Z Jacques.gangloff 11 /* Cable-Driven Parallel Robotics */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] === Non Linear Predictive Control === Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] === A Completer === Iulia, Hassan, Edouard == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 7d21ede8815f04ac042dad5685ce89283cc08a2d 202 201 2022-09-26T12:59:51Z Jacques.gangloff 11 /* Cable-Driven Parallel Robotics */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] === Non Linear Predictive Control === Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] === A Completer === Iulia, Hassan, Edouard == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] d544a731fe210cfce8ec674192232916045dfb14 203 202 2022-09-26T14:37:22Z Jacques.gangloff 11 /* Cable-Driven Parallel Robotics */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] === Non Linear Predictive Control === Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] === A Completer === Iulia, Hassan, Edouard == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 4044712ab1573a6a77746f8bfface6bc4d768a70 0 7 174 119 2022-09-26T09:49:01Z Jacques.gangloff 11 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 500px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. It emphasizes research recognized at the best international level, in particular in medical robotics and data science for health: * '''Medical Robotics and Interventional Imaging''' gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''Learning, modeling and data science''' gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''[[Complex Systems and Parsimony|Complex systems and parsimony]]''' gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div style="position: relative; height: 1%;">[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> </slideshow> </div> </div> d30f2f676691a714efe43f058c4f7cea370acda0 0 48 204 203 2022-09-26T14:51:38Z Jacques.gangloff 11 /* Aerial Manipulation */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] === Non Linear Predictive Control === Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] === A Completer === Iulia, Hassan, Edouard == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 028c1b48e9df88b63384c4b97de13c9c6f009470 205 204 2022-09-26T14:55:07Z Jacques.gangloff 11 /* Aerial Manipulation */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] === Non Linear Predictive Control === Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] === A Completer === Iulia, Hassan, Edouard == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] b6470406b0e27bf12e1dbc2d88d7dc4dc5943410 206 205 2022-09-26T15:21:54Z Jacques.gangloff 11 /* Flexible Mechanisms */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] === Non Linear Predictive Control === Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] === A Completer === Iulia, Hassan, Edouard == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] Florent ? === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] f939b8c7f9377f40c33cded5bfb06eb7ee885af9 207 206 2022-09-26T15:22:20Z Jacques.gangloff 11 /* A Completer */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] === Non Linear Predictive Control === Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] === A Completer === Iulia, Hassan, Edouard, Florent == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] Florent ? === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 606616af90cbfafc9462f40761d45cb4a21bd815 208 207 2022-09-27T12:07:22Z Homran 17 /* Complex Systems */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] === Non Linear Predictive Control === Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] === Control of Collaborative Robots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] === A Completer === Iulia, Edouard, Florent == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] Florent ? === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 161fc91627a2162f5e7949b7162f2cd4149d24d5 209 208 2022-09-27T12:07:34Z Homran 17 /* Control of Collaborative Robots */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] === Non Linear Predictive Control === Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] === Control of Collaborative Robots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] === A Completer === Iulia, Edouard, Florent == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] Florent ? === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 35c5d6e4b3997bbdf8b5bf8dcc95ab3e9c6b44ea 210 209 2022-09-27T12:08:07Z Homran 17 /* Control of Collaborative Robots */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] === Non Linear Predictive Control === Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] === Control of Collaborative Robots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] testtt === A Completer === Iulia, Edouard, Florent == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] Florent ? === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] fd11d2d90e37bfceb7a95a0fe669ac1283443d79 211 210 2022-09-27T12:39:52Z Homran 17 /* Control of Collaborative Robots */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] === Non Linear Predictive Control === Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while interacting with its environment while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the operator intentions for an enhanced physical human–robot interaction. === A Completer === Iulia, Edouard, Florent == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] Florent ? === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] d24c53fc39f3e46ae4eda66f41141bf6265cae5d 212 211 2022-09-27T12:44:23Z Homran 17 /* Control of Cobots */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] === Non Linear Predictive Control === Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while interacting with its environment while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the operator intentions for an enhanced physical human–robot interaction. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> === A Completer === Iulia, Edouard, Florent == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] Florent ? === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 708d24292bfb995458333c367ee9fcfbb149ed3d 213 212 2022-09-27T12:50:17Z Homran 17 /* Control of Cobots */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] === Non Linear Predictive Control === Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> === A Completer === Iulia, Edouard, Florent == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] Florent ? === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 451129a9f1ccc33c6591d286ee37ca83a9008e01 214 213 2022-09-27T19:48:11Z Sdurand 18 /* Event-Based Control */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Non Linear Predictive Control === Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> === A Completer === Iulia, Edouard, Florent == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] Florent ? === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 4b786669139575929ff3bb684ca46b0585683197 215 214 2022-09-27T23:53:35Z L.cuvillon 9 wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> === A Completer === Iulia, Edouard, Florent == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] Florent ? === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 18c2a923b0a97b960d73f333089e05c8a12c9f17 216 215 2022-09-28T06:10:24Z C.doignon 20 /* Active Markers */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> === A Completer === Iulia, Edouard, Florent == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] Florent ? === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === (Active Markers) === Suivi et asservissement visuels à l'aide de la lumière structurée codée (Tracking and visual servoing with coded structured lighting). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture (voire l'absence d'indices visuels perceptibles à l'échelle du capteur) des marqueurs matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du recalage relatif et de la commande automatique sont étudiées. Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] cee06f7e2ce0593e4a393a9ae619c9176f3ba2d1 217 216 2022-09-28T06:11:54Z C.doignon 20 /* (Active Markers) */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> === A Completer === Iulia, Edouard, Florent == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] Florent ? === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === (Active Markers) === Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture (voire l'absence d'indices visuels perceptibles à l'échelle du capteur) des marqueurs matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, le choix dynamique des indices visuels à projeter, du recalage relatif et de la commande automatique sont étudiées dans ce cadre. Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] f4a14805034964acbd5cc78f03d99b8bab85f7ad 219 217 2022-09-28T06:17:52Z C.doignon 20 /* (Active Markers) */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> === A Completer === Iulia, Edouard, Florent == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] Florent ? === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture (voire l'absence d'indices visuels perceptibles à l'échelle du capteur) des marqueurs matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, le choix dynamique des indices visuels à projeter, du recalage relatif et de la commande automatique sont étudiées dans ce cadre. [[File:Motif parf14.jpg|thumb]] === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] b00ea5011ca2ad4b2ada3d5d4b151dcc18b91b46 220 219 2022-09-28T06:18:12Z C.doignon 20 /* Active Markers */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> === A Completer === Iulia, Edouard, Florent == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] Florent ? === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] [[File:Motif parf14.jpg|thumb]] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture (voire l'absence d'indices visuels perceptibles à l'échelle du capteur) des marqueurs matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, le choix dynamique des indices visuels à projeter, du recalage relatif et de la commande automatique sont étudiées dans ce cadre. === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 3fdba7ced78b713a3bc22848b93bfc41eee58abd 221 220 2022-09-28T06:20:16Z C.doignon 20 /* Active Markers */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> === A Completer === Iulia, Edouard, Florent == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] Florent ? === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] [[File:Motif parf14.jpg|thumb]] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indices visuels est perceptible par le capteur, des marqueurs matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, le choix dynamique des indices visuels à projeter, du recalage relatif et de la commande automatique sont étudiées dans ce cadre. === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 470cf0aed2eeecf0cd298329cfc5850db5735a62 222 221 2022-09-28T06:21:21Z C.doignon 20 /* Active Markers */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> === A Completer === Iulia, Edouard, Florent == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] Florent ? === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] [[File:Motif parf14.jpg|thumb]] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indices visuels est perceptible par le capteur, des marqueurs matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage relatif et de la commande automatique sont étudiées dans ce cadre. === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 5c0a10c45669fdf601653c1768121255d2d7a5bc 223 222 2022-09-28T06:23:19Z C.doignon 20 /* Active Markers */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> === A Completer === Iulia, Edouard, Florent == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] Florent ? === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] [[File:Motif parf14.jpg|thumb]] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indices visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage relatif et de la commande automatique sont alors étudiées dans ce cadre. === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] a163b8a42eab632faab9defa2684871319d5c692 224 223 2022-09-28T07:17:50Z Laroche 8 /* Control of Cobots */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design control schemes for robust control of cobots, minimizing the transparency perceived by the operator * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers). === A Completer === Iulia, Edouard, Florent == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] Florent ? === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] [[File:Motif parf14.jpg|thumb]] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indices visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage relatif et de la commande automatique sont alors étudiées dans ce cadre. === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 36ec50308b600d5936585d7abddb2bec9f79c6d6 241 224 2022-09-28T14:43:09Z Laroche 8 /* Complex Systems */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design control schemes for robust control of cobots, minimizing the transparency perceived by the operator * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers). === Control of nonlinear systems defined by algebro-differential equations Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] === A Completer === Iulia, Florent == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] Florent ? === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] [[File:Motif parf14.jpg|thumb]] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indices visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage relatif et de la commande automatique sont alors étudiées dans ce cadre. === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] a4e8b27e827f908678c8999432bc8374a34f8c63 243 241 2022-09-28T14:43:32Z Laroche 8 /* Complex Systems */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design control schemes for robust control of cobots, minimizing the transparency perceived by the operator * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers). === Control of nonlinear systems defined by algebro-differential equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] === A Completer === Iulia, Florent == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] Florent ? === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] [[File:Motif parf14.jpg|thumb]] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indices visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage relatif et de la commande automatique sont alors étudiées dans ce cadre. === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 8c067eb84fe5767bbf63e9f6c0d033b9bc0f1d20 244 243 2022-09-28T14:46:00Z Laroche 8 /* Control of Cobots */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, minimizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of nonlinear systems defined by algebro-differential equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] === A Completer === Iulia, Florent == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] Florent ? === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] [[File:Motif parf14.jpg|thumb]] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indices visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage relatif et de la commande automatique sont alors étudiées dans ce cadre. === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] ee807d48ae128d8c8bc04b8063f8e0687b2d7fd2 245 244 2022-09-28T14:48:56Z Laroche 8 /* Cable-Driven Parallel Robotics */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, minimizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of nonlinear systems defined by algebro-differential equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] === A Completer === Iulia, Florent == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] Florent ? === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section on Control === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] [[File:Motif parf14.jpg|thumb]] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indices visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage relatif et de la commande automatique sont alors étudiées dans ce cadre. === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 56fb4b71da09b7dd9b609a19f56e9ae99c0b84a7 246 245 2022-09-28T14:49:34Z Laroche 8 /* Cable-Driven Parallel Robotics */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, minimizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of nonlinear systems defined by algebro-differential equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] === A Completer === Iulia, Florent == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] Florent ? === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section ''Control of nonlinear systems defined by algebro-differential equations'' below for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] [[File:Motif parf14.jpg|thumb]] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indices visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage relatif et de la commande automatique sont alors étudiées dans ce cadre. === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] c3991fb017aa0cc2ed7a5a6c250c77142ff16e73 6 49 218 2022-09-28T06:17:09Z C.doignon 20 wikitext text/x-wiki motif dynamique f8ea9690571202a33b7f4813519a247e2b863e5c 0 47 225 172 2022-09-28T13:49:54Z Bernard.bayle 5 /* Main contacts */ wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Bernard Bayle, [mailto:Bernard.bayle(at)unistra.fr] *Julien Garnon, julien.garnon(at)chru-strasbourg.fr *Laurence Meylheuc, laurence.meylheuc(at)insa-strasbourg.fr == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ === Main contacts === *Pierre Renaud, pierre.renaud(at)unistra.fr *Lennart Rubbert, lennart.rubbert(at)insa-strasbourg.fr *Laurent Barbé, barbe(at)unistra.fr == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. === Main contacts === *Florent Nageotte, nageotte(at)unistra.fr *Philippe Zanne, zanne.philippe(at)unistra.fr ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. ===Main contacts=== *Elodie Breton, ebreton(at)unistra.fr *Jonathan Vappou, jvappou(at)unistra.fr ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] ===Main Contacts=== *Jonathan Vappou, jvappou(at)unistra.fr *Paolo Cabras, cabras(at)unistra.fr c9a193b385346fcfdedd94a38017756c3b2dbe8c 226 225 2022-09-28T13:52:24Z Bernard.bayle 5 /* Robot-aided Cementoplasty in interventional radiology */ wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. Laurence Meylheuc, [mailto:laurence.meylheuc@insa-strasbourg.fr laurence.meylheuc(at)insa-strasbourg.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] Julien Garnon, [mailto:julien.garnon@chru-strasbourg.fr julien.garnon(at)chru-strasbourg.fr] == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ === Main contacts === *Pierre Renaud, pierre.renaud(at)unistra.fr *Lennart Rubbert, lennart.rubbert(at)insa-strasbourg.fr *Laurent Barbé, barbe(at)unistra.fr == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. === Main contacts === *Florent Nageotte, nageotte(at)unistra.fr *Philippe Zanne, zanne.philippe(at)unistra.fr ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. ===Main contacts=== *Elodie Breton, ebreton(at)unistra.fr *Jonathan Vappou, jvappou(at)unistra.fr ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] ===Main Contacts=== *Jonathan Vappou, jvappou(at)unistra.fr *Paolo Cabras, cabras(at)unistra.fr 6635beefc9fedf6ab40c61f9cde42ba74a77b202 227 226 2022-09-28T13:52:56Z Bernard.bayle 5 /* Robot-aided Cementoplasty in interventional radiology */ wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. Laurence Meylheuc, [mailto:laurence.meylheuc@insa-strasbourg.fr laurence.meylheuc(at)insa-strasbourg.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] Julien Garnon, [mailto:julien.garnon@chru-strasbourg.fr julien.garnon(at)chru-strasbourg.fr] == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ === Main contacts === *Pierre Renaud, pierre.renaud(at)unistra.fr *Lennart Rubbert, lennart.rubbert(at)insa-strasbourg.fr *Laurent Barbé, barbe(at)unistra.fr == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. === Main contacts === *Florent Nageotte, nageotte(at)unistra.fr *Philippe Zanne, zanne.philippe(at)unistra.fr ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. ===Main contacts=== *Elodie Breton, ebreton(at)unistra.fr *Jonathan Vappou, jvappou(at)unistra.fr ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] ===Main Contacts=== *Jonathan Vappou, jvappou(at)unistra.fr *Paolo Cabras, cabras(at)unistra.fr 04250bfb6c86ee2f9e6824db2495bed8109238e8 228 227 2022-09-28T13:54:27Z Bernard.bayle 5 /* Main contacts */ wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. Laurence Meylheuc, [mailto:laurence.meylheuc@insa-strasbourg.fr laurence.meylheuc(at)insa-strasbourg.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] Julien Garnon, [mailto:julien.garnon@chru-strasbourg.fr julien.garnon(at)chru-strasbourg.fr] == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ Pierre Renaud, [mailto:pierre.renaud@insa-strasbourg.fr pierre.renaud(at)insa-strasbourg.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr lennart.rubbert(at)insa-strasbourg.fr] Laurent Barbé, [mailto:barbe@unistra.fr barbe(at)unistra.fr == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. === Main contacts === *Florent Nageotte, nageotte(at)unistra.fr *Philippe Zanne, zanne.philippe(at)unistra.fr ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. ===Main contacts=== *Elodie Breton, ebreton(at)unistra.fr *Jonathan Vappou, jvappou(at)unistra.fr ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] ===Main Contacts=== *Jonathan Vappou, jvappou(at)unistra.fr *Paolo Cabras, cabras(at)unistra.fr c9881d9350e9416578bf0b4df9230c5191e258fe 229 228 2022-09-28T13:54:49Z Bernard.bayle 5 /* Manufacturing process, new devices and robots for Interventional procedures */ wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. Laurence Meylheuc, [mailto:laurence.meylheuc@insa-strasbourg.fr laurence.meylheuc(at)insa-strasbourg.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] Julien Garnon, [mailto:julien.garnon@chru-strasbourg.fr julien.garnon(at)chru-strasbourg.fr] == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ Pierre Renaud, [mailto:pierre.renaud@insa-strasbourg.fr pierre.renaud(at)insa-strasbourg.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr lennart.rubbert(at)insa-strasbourg.fr] Laurent Barbé, [mailto:barbe@unistra.fr barbe(at)unistra.fr] == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. === Main contacts === *Florent Nageotte, nageotte(at)unistra.fr *Philippe Zanne, zanne.philippe(at)unistra.fr ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. ===Main contacts=== *Elodie Breton, ebreton(at)unistra.fr *Jonathan Vappou, jvappou(at)unistra.fr ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] ===Main Contacts=== *Jonathan Vappou, jvappou(at)unistra.fr *Paolo Cabras, cabras(at)unistra.fr 2a5920114b49c7538620d6df1369e424f29510cf 230 229 2022-09-28T13:56:58Z Bernard.bayle 5 /* Main contacts */ wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. Laurence Meylheuc, [mailto:laurence.meylheuc@insa-strasbourg.fr laurence.meylheuc(at)insa-strasbourg.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] Julien Garnon, [mailto:julien.garnon@chru-strasbourg.fr julien.garnon(at)chru-strasbourg.fr] == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ Pierre Renaud, [mailto:pierre.renaud@insa-strasbourg.fr pierre.renaud(at)insa-strasbourg.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr lennart.rubbert(at)insa-strasbourg.fr] Laurent Barbé, [mailto:barbe@unistra.fr barbe(at)unistra.fr] == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. Florent Nageotte, [mailto:nageotte@unistra.fr nageotte(at)unistra.fr] Philippe Zanne, [mailto:zanne.philippe@unistra.fr zanne.philippe@unistra.fr] Benoit Rosa, [mailto:b.rosa@unistra.fr b.rosa(at)unistra.fr] ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. ===Main contacts=== *Elodie Breton, ebreton(at)unistra.fr *Jonathan Vappou, jvappou(at)unistra.fr ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] ===Main Contacts=== *Jonathan Vappou, jvappou(at)unistra.fr *Paolo Cabras, cabras(at)unistra.fr 8e7521b4c29e3caf14f382837208767a2e921a4d 231 230 2022-09-28T13:58:06Z Bernard.bayle 5 /* Main contacts */ wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. Laurence Meylheuc, [mailto:laurence.meylheuc@insa-strasbourg.fr laurence.meylheuc(at)insa-strasbourg.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] Julien Garnon, [mailto:julien.garnon@chru-strasbourg.fr julien.garnon(at)chru-strasbourg.fr] == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ Pierre Renaud, [mailto:pierre.renaud@insa-strasbourg.fr pierre.renaud(at)insa-strasbourg.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr lennart.rubbert(at)insa-strasbourg.fr] Laurent Barbé, [mailto:barbe@unistra.fr barbe(at)unistra.fr] == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. Florent Nageotte, [mailto:nageotte@unistra.fr nageotte(at)unistra.fr] Philippe Zanne, [mailto:zanne.philippe@unistra.fr zanne.philippe@unistra.fr] Benoit Rosa, [mailto:b.rosa@unistra.fr b.rosa(at)unistra.fr] ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. Elodie Breton, [mailto:ebreton@unistra.fr ebreton(at)unistra.fr] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] ===Main Contacts=== *Jonathan Vappou, jvappou(at)unistra.fr *Paolo Cabras, cabras(at)unistra.fr 7486baeee6c9ebacd27050d493c9b0e5036ddae3 232 231 2022-09-28T13:58:35Z Bernard.bayle 5 /* Interventional MRI methods for assistance to interventional procedures */ wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. Laurence Meylheuc, [mailto:laurence.meylheuc@insa-strasbourg.fr laurence.meylheuc(at)insa-strasbourg.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] Julien Garnon, [mailto:julien.garnon@chru-strasbourg.fr julien.garnon(at)chru-strasbourg.fr] == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ Pierre Renaud, [mailto:pierre.renaud@insa-strasbourg.fr pierre.renaud(at)insa-strasbourg.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr lennart.rubbert(at)insa-strasbourg.fr] Laurent Barbé, [mailto:barbe@unistra.fr barbe(at)unistra.fr] == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. Florent Nageotte, [mailto:nageotte@unistra.fr nageotte(at)unistra.fr] Philippe Zanne, [mailto:zanne.philippe@unistra.fr zanne.philippe@unistra.fr] Benoit Rosa, [mailto:b.rosa@unistra.fr b.rosa(at)unistra.fr] ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. Elodie Breton, [mailto:ebreton@unistra.fr ebreton(at)unistra.fr] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] ===Main Contacts=== *Jonathan Vappou, jvappou(at)unistra.fr *Paolo Cabras, cabras(at)unistra.fr 1a062b2a69d4a479aff7004da43064a692b68103 233 232 2022-09-28T13:59:20Z Bernard.bayle 5 /* Therapeutic Ultrasound */ wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. Laurence Meylheuc, [mailto:laurence.meylheuc@insa-strasbourg.fr laurence.meylheuc(at)insa-strasbourg.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] Julien Garnon, [mailto:julien.garnon@chru-strasbourg.fr julien.garnon(at)chru-strasbourg.fr] == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ Pierre Renaud, [mailto:pierre.renaud@insa-strasbourg.fr pierre.renaud(at)insa-strasbourg.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr lennart.rubbert(at)insa-strasbourg.fr] Laurent Barbé, [mailto:barbe@unistra.fr barbe(at)unistra.fr] == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. Florent Nageotte, [mailto:nageotte@unistra.fr nageotte(at)unistra.fr] Philippe Zanne, [mailto:zanne.philippe@unistra.fr zanne.philippe@unistra.fr] Benoit Rosa, [mailto:b.rosa@unistra.fr b.rosa(at)unistra.fr] ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. Elodie Breton, [mailto:ebreton@unistra.fr ebreton(at)unistra.fr] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] Paolo Cabras, [mailto:cabras@unistra.fr cabras(at)unistra.fr] 7e9dfd0c45a393f4e0bd617c19384a5d6acf90cd 234 233 2022-09-28T14:00:11Z Bernard.bayle 5 /* Manufacturing process, new devices and robots for Interventional procedures */ wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. Laurence Meylheuc, [mailto:laurence.meylheuc@insa-strasbourg.fr laurence.meylheuc(at)insa-strasbourg.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] Julien Garnon, [mailto:julien.garnon@chru-strasbourg.fr julien.garnon(at)chru-strasbourg.fr] == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ Pierre Renaud, [mailto:pierre.renaud@insa-strasbourg.fr pierre.renaud(at)insa-strasbourg.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr lennart.rubbert(at)insa-strasbourg.fr] Laurent Barbé, [mailto:barbe@unistra.fr barbe(at)unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. Florent Nageotte, [mailto:nageotte@unistra.fr nageotte(at)unistra.fr] Philippe Zanne, [mailto:zanne.philippe@unistra.fr zanne.philippe@unistra.fr] Benoit Rosa, [mailto:b.rosa@unistra.fr b.rosa(at)unistra.fr] ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. Elodie Breton, [mailto:ebreton@unistra.fr ebreton(at)unistra.fr] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] Paolo Cabras, [mailto:cabras@unistra.fr cabras(at)unistra.fr] 1c078f74c7a5b1b4ce2cc48df70e8630d1b45bff 235 234 2022-09-28T14:01:40Z Bernard.bayle 5 /* Manufacturing process, new devices and robots for Interventional procedures */ wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. Laurence Meylheuc, [mailto:laurence.meylheuc@insa-strasbourg.fr laurence.meylheuc(at)insa-strasbourg.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] Julien Garnon, [mailto:julien.garnon@chru-strasbourg.fr julien.garnon(at)chru-strasbourg.fr] == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ Pierre Renaud, [mailto:pierre.renaud@insa-strasbourg.fr pierre.renaud(at)insa-strasbourg.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr lennart.rubbert(at)insa-strasbourg.fr] Francois Geiskopf [mailto:francois.geiskopf@insa-strasbourg.fr francois.geiskopf(at)insa-strasbourg.fr] Laurent Barbé, [mailto:barbe@unistra.fr barbe(at)unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. Florent Nageotte, [mailto:nageotte@unistra.fr nageotte(at)unistra.fr] Philippe Zanne, [mailto:zanne.philippe@unistra.fr zanne.philippe@unistra.fr] Benoit Rosa, [mailto:b.rosa@unistra.fr b.rosa(at)unistra.fr] ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. Elodie Breton, [mailto:ebreton@unistra.fr ebreton(at)unistra.fr] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] Paolo Cabras, [mailto:cabras@unistra.fr cabras(at)unistra.fr] 98dbe2aa048e070d3379bc1084444ddbd4dfd2de 0 50 236 2022-09-28T14:32:57Z B.rosa 6 Created page with " The Learning, Modelling, and Data Science team brings together researchers in the team who work on artificial intelligence (AI), simulation, and computer vision methods. =..." wikitext text/x-wiki The Learning, Modelling, and Data Science team brings together researchers in the team who work on artificial intelligence (AI), simulation, and computer vision methods. == Computer vision, object recognition and scene understanding == Adlane Habed Nicolas Padoy Benoit Rosa This axis concerns the development of computer vision methods for object recognition, 3D scene understanding and assessment, endoscopic image segmentation, or surgical phase estimation. Optimization methods have been developed for applications such as the autocalibration of cameras or visual odometry. We are interested in building original, robust optimization algorithms, exploiting rich multi-modal information such as semantic maps. In the medical context, a driving theme is the development of a surgical control tower, monitoring events in the operating room. Majors results have been obtained using modern deep learning techniques, for instance regarding the 3D pose estimation of operators in the room, surgical phase estimation, and segmentationor pose estimation of surgical instruments. A limitation of such methods is the need for large, high quality datasets. We are therefore more and more interested in weakly- and self-supervised approaches, which exploit available data sources or a specific structure of the information in order to limit the amount of labeled data required. == Numerical simulation methods for surgical applications == Simon Chatelin Hadrien Courtecuisse Jean-Philippe Dillenseger The second major problem we tackle in this theme is the development of numerical simulation methods for surgical applications. A first application of such models is to help the design and modeling of robots. An interesting approach developed in partnership with researchers from the MLMS team is to include real-time finite element simulations within the control loop of a robotic system in order to anticipate environment deformations and interactions. We are also interested in developing biomechanical models of patient-specific features such as soft tissues. Finally, simulations can also drive the training of surgical staff, as shown with the X-aware prototype in which physical radiation models and AI-based 3D pose estimation allow making a clinician aware of his/her full body exposure to x-ray during interventional radiology procedures. == Data sience methods and clinical translation == Georgios Exarchagis Jean-Paul Mazellier Nicolas Padoy The last axis within this theme concerns transverse methodological research problems in AI, which could be applicable to both computer vision and simulation methods. We aim to tackle key problems towards clinical application of the methods developed in our work. One first key problem is the generalizability problem, i.e. proving that our methods are robust to diverse conditions. To this aim, we develop data augmentation techniques with original synthetic data generation methods. We have recently started working on coupling simulation and AI or computer vision methods in a synergistic fashion. Simulated models can for instance be a source of information to augment available data with semi-synthetic inputs in order to train more realistic AI models without increasing the data gathering and annotation costs. We are also increasingly interested in federated learning approaches, for training models with multi-centric sensitive data. 8fd31dca4656164f691af0246fbf3b95c33af885 237 236 2022-09-28T14:35:07Z B.rosa 6 wikitext text/x-wiki The Learning, Modelling, and Data Science team brings together researchers in the team who work on artificial intelligence (AI), simulation, and computer vision methods. == Computer vision, object recognition and scene understanding == Adlane Habed Nicolas Padoy Benoit Rosa This axis concerns the development of computer vision methods for object recognition, 3D scene understanding and assessment, endoscopic image segmentation, or surgical phase estimation. Optimization methods have been developed for applications such as the autocalibration of cameras or visual odometry. We are interested in building original, robust optimization algorithms, exploiting rich multi-modal information such as semantic maps. In the medical context, a driving theme is the development of a surgical control tower, monitoring events in the operating room. Majors results have been obtained using modern deep learning techniques, for instance regarding the 3D pose estimation of operators in the room, surgical phase estimation, and segmentationor pose estimation of surgical instruments. A limitation of such methods is the need for large, high quality datasets. We are therefore more and more interested in weakly- and self-supervised approaches, which exploit available data sources or a specific structure of the information in order to limit the amount of labeled data required. == Numerical simulation methods for surgical applications == Simon Chatelin Hadrien Courtecuisse Jean-Philippe Dillenseger The second major problem we tackle in this theme is the development of numerical simulation methods for surgical applications. A first application of such models is to help the design and modeling of robots. An interesting approach developed in partnership with researchers from the MLMS team is to include real-time finite element simulations within the control loop of a robotic system in order to anticipate environment deformations and interactions. We are also interested in developing biomechanical models of patient-specific features such as soft tissues. Finally, simulations can also drive the training of surgical staff, as shown with the X-aware prototype in which physical radiation models and AI-based 3D pose estimation allow making a clinician aware of his/her full body exposure to x-ray during interventional radiology procedures. == Data sience methods and clinical translation == Georgios Exarchagis Jean-Paul Mazellier Nicolas Padoy The last axis within this theme concerns transverse methodological research problems in AI, which could be applicable to both computer vision and simulation methods. We aim to tackle key problems towards clinical application of the methods developed in our work. One first key problem is the generalizability problem, i.e. proving that our methods are robust to diverse conditions. To this aim, we develop data augmentation techniques with original synthetic data generation methods. We have recently started working on coupling simulation and AI or computer vision methods in a synergistic fashion. Simulated models can for instance be a source of information to augment available data with semi-synthetic inputs in order to train more realistic AI models without increasing the data gathering and annotation costs. We are also increasingly interested in federated learning approaches, for training models with multi-centric sensitive data. 4c4010b1caeb8e827d8b2a7058269bbe8a6b290c 238 237 2022-09-28T14:35:18Z B.rosa 6 wikitext text/x-wiki The Learning, Modelling, and Data Science team brings together researchers in the team who work on artificial intelligence (AI), simulation, and computer vision methods. == Computer vision, object recognition and scene understanding == Adlane Habed Nicolas Padoy Benoit Rosa This axis concerns the development of computer vision methods for object recognition, 3D scene understanding and assessment, endoscopic image segmentation, or surgical phase estimation. Optimization methods have been developed for applications such as the autocalibration of cameras or visual odometry. We are interested in building original, robust optimization algorithms, exploiting rich multi-modal information such as semantic maps. In the medical context, a driving theme is the development of a surgical control tower, monitoring events in the operating room. Majors results have been obtained using modern deep learning techniques, for instance regarding the 3D pose estimation of operators in the room, surgical phase estimation, and segmentationor pose estimation of surgical instruments. A limitation of such methods is the need for large, high quality datasets. We are therefore more and more interested in weakly- and self-supervised approaches, which exploit available data sources or a specific structure of the information in order to limit the amount of labeled data required. === test === == Numerical simulation methods for surgical applications == Simon Chatelin Hadrien Courtecuisse Jean-Philippe Dillenseger The second major problem we tackle in this theme is the development of numerical simulation methods for surgical applications. A first application of such models is to help the design and modeling of robots. An interesting approach developed in partnership with researchers from the MLMS team is to include real-time finite element simulations within the control loop of a robotic system in order to anticipate environment deformations and interactions. We are also interested in developing biomechanical models of patient-specific features such as soft tissues. Finally, simulations can also drive the training of surgical staff, as shown with the X-aware prototype in which physical radiation models and AI-based 3D pose estimation allow making a clinician aware of his/her full body exposure to x-ray during interventional radiology procedures. == Data sience methods and clinical translation == Georgios Exarchagis Jean-Paul Mazellier Nicolas Padoy The last axis within this theme concerns transverse methodological research problems in AI, which could be applicable to both computer vision and simulation methods. We aim to tackle key problems towards clinical application of the methods developed in our work. One first key problem is the generalizability problem, i.e. proving that our methods are robust to diverse conditions. To this aim, we develop data augmentation techniques with original synthetic data generation methods. We have recently started working on coupling simulation and AI or computer vision methods in a synergistic fashion. Simulated models can for instance be a source of information to augment available data with semi-synthetic inputs in order to train more realistic AI models without increasing the data gathering and annotation costs. We are also increasingly interested in federated learning approaches, for training models with multi-centric sensitive data. 98d949c3abc9d0728e3326eb8067074116f1217d 239 238 2022-09-28T14:36:11Z B.rosa 6 wikitext text/x-wiki The Learning, Modelling, and Data Science team brings together researchers in the team who work on artificial intelligence (AI), simulation, and computer vision methods. == Computer vision, object recognition and scene understanding == Adlane Habed Nicolas Padoy Benoit Rosa This axis concerns the development of computer vision methods for object recognition, 3D scene understanding and assessment, endoscopic image segmentation, or surgical phase estimation. Optimization methods have been developed for applications such as the autocalibration of cameras or visual odometry. We are interested in building original, robust optimization algorithms, exploiting rich multi-modal information such as semantic maps. In the medical context, a driving theme is the development of a surgical control tower, monitoring events in the operating room. Majors results have been obtained using modern deep learning techniques, for instance regarding the 3D pose estimation of operators in the room, surgical phase estimation, and segmentationor pose estimation of surgical instruments. A limitation of such methods is the need for large, high quality datasets. We are therefore more and more interested in weakly- and self-supervised approaches, which exploit available data sources or a specific structure of the information in order to limit the amount of labeled data required. == Numerical simulation methods for surgical applications == Simon Chatelin Hadrien Courtecuisse Jean-Philippe Dillenseger The second major problem we tackle in this theme is the development of numerical simulation methods for surgical applications. A first application of such models is to help the design and modeling of robots. An interesting approach developed in partnership with researchers from the MLMS team is to include real-time finite element simulations within the control loop of a robotic system in order to anticipate environment deformations and interactions. We are also interested in developing biomechanical models of patient-specific features such as soft tissues. Finally, simulations can also drive the training of surgical staff, as shown with the X-aware prototype in which physical radiation models and AI-based 3D pose estimation allow making a clinician aware of his/her full body exposure to x-ray during interventional radiology procedures. == Data sience methods and clinical translation == Georgios Exarchagis Jean-Paul Mazellier Nicolas Padoy The last axis within this theme concerns transverse methodological research problems in AI, which could be applicable to both computer vision and simulation methods. We aim to tackle key problems towards clinical application of the methods developed in our work. One first key problem is the generalizability problem, i.e. proving that our methods are robust to diverse conditions. To this aim, we develop data augmentation techniques with original synthetic data generation methods. We have recently started working on coupling simulation and AI or computer vision methods in a synergistic fashion. Simulated models can for instance be a source of information to augment available data with semi-synthetic inputs in order to train more realistic AI models without increasing the data gathering and annotation costs. We are also increasingly interested in federated learning approaches, for training models with multi-centric sensitive data. == Numerical simulation methods for surgical applications == test 6e402242dc69aa07aaee95d5e2f72c564ede687d 240 239 2022-09-28T14:36:20Z B.rosa 6 wikitext text/x-wiki The Learning, Modelling, and Data Science team brings together researchers in the team who work on artificial intelligence (AI), simulation, and computer vision methods. == Computer vision, object recognition and scene understanding == Adlane Habed Nicolas Padoy Benoit Rosa This axis concerns the development of computer vision methods for object recognition, 3D scene understanding and assessment, endoscopic image segmentation, or surgical phase estimation. Optimization methods have been developed for applications such as the autocalibration of cameras or visual odometry. We are interested in building original, robust optimization algorithms, exploiting rich multi-modal information such as semantic maps. In the medical context, a driving theme is the development of a surgical control tower, monitoring events in the operating room. Majors results have been obtained using modern deep learning techniques, for instance regarding the 3D pose estimation of operators in the room, surgical phase estimation, and segmentationor pose estimation of surgical instruments. A limitation of such methods is the need for large, high quality datasets. We are therefore more and more interested in weakly- and self-supervised approaches, which exploit available data sources or a specific structure of the information in order to limit the amount of labeled data required. == Numerical simulation methods for surgical applications == Simon Chatelin Hadrien Courtecuisse Jean-Philippe Dillenseger The second major problem we tackle in this theme is the development of numerical simulation methods for surgical applications. A first application of such models is to help the design and modeling of robots. An interesting approach developed in partnership with researchers from the MLMS team is to include real-time finite element simulations within the control loop of a robotic system in order to anticipate environment deformations and interactions. We are also interested in developing biomechanical models of patient-specific features such as soft tissues. Finally, simulations can also drive the training of surgical staff, as shown with the X-aware prototype in which physical radiation models and AI-based 3D pose estimation allow making a clinician aware of his/her full body exposure to x-ray during interventional radiology procedures. == Data sience methods and clinical translation == Georgios Exarchagis Jean-Paul Mazellier Nicolas Padoy The last axis within this theme concerns transverse methodological research problems in AI, which could be applicable to both computer vision and simulation methods. We aim to tackle key problems towards clinical application of the methods developed in our work. One first key problem is the generalizability problem, i.e. proving that our methods are robust to diverse conditions. To this aim, we develop data augmentation techniques with original synthetic data generation methods. We have recently started working on coupling simulation and AI or computer vision methods in a synergistic fashion. Simulated models can for instance be a source of information to augment available data with semi-synthetic inputs in order to train more realistic AI models without increasing the data gathering and annotation costs. We are also increasingly interested in federated learning approaches, for training models with multi-centric sensitive data. 340db423ac5b66df0b63610a8065e2e08865b110 6 51 242 2022-09-28T14:43:25Z B.rosa 6 xaware wikitext text/x-wiki == Summary == xaware 256cdfb2049806f0f9569724d0218743fa1e60bd 6 52 247 2022-09-28T14:52:37Z B.rosa 6 wikitext text/x-wiki cvs 5f2c730fbcdb532fd8dd3bdf7ddc0c70563c4f19 6 53 248 2022-09-28T14:52:50Z B.rosa 6 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 6 54 249 2022-09-28T14:53:03Z B.rosa 6 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 6 55 250 2022-09-28T14:53:11Z B.rosa 6 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 6 56 251 2022-09-28T14:53:18Z B.rosa 6 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 6 57 252 2022-09-28T14:53:24Z B.rosa 6 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 6 58 253 2022-09-28T14:53:32Z B.rosa 6 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 6 59 254 2022-09-28T14:53:38Z B.rosa 6 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 0 50 255 240 2022-09-28T14:59:21Z B.rosa 6 wikitext text/x-wiki The Learning, Modelling, and Data Science team brings together researchers in the team who work on artificial intelligence (AI), simulation, and computer vision methods. == Computer vision, object recognition and scene understanding == Adlane Habed Nicolas Padoy Benoit Rosa This axis concerns the development of computer vision methods for object recognition, 3D scene understanding and assessment, endoscopic image segmentation, or surgical phase estimation. Optimization methods have been developed for applications such as the autocalibration of cameras or visual odometry. We are interested in building original, robust optimization algorithms, exploiting rich multi-modal information such as semantic maps. In the medical context, a driving theme is the development of a surgical control tower, monitoring events in the operating room. Majors results have been obtained using modern deep learning techniques, for instance regarding the 3D pose estimation of operators in the room, surgical phase estimation, and segmentationor pose estimation of surgical instruments. A limitation of such methods is the need for large, high quality datasets. We are therefore more and more interested in weakly- and self-supervised approaches, which exploit available data sources or a specific structure of the information in order to limit the amount of labeled data required. == Numerical simulation methods for surgical applications == Simon Chatelin Hadrien Courtecuisse Jean-Philippe Dillenseger The second major problem we tackle in this theme is the development of numerical simulation methods for surgical applications. A first application of such models is to help the design and modeling of robots. An interesting approach developed in partnership with researchers from the MLMS team is to include real-time finite element simulations within the control loop of a robotic system in order to anticipate environment deformations and interactions. We are also interested in developing biomechanical models of patient-specific features such as soft tissues. Finally, simulations can also drive the training of surgical staff, as shown with the X-aware prototype in which physical radiation models and AI-based 3D pose estimation allow making a clinician aware of his/her full body exposure to x-ray during interventional radiology procedures. == Data sience methods and clinical translation == Georgios Exarchagis Jean-Paul Mazellier Nicolas Padoy The last axis within this theme concerns transverse methodological research problems in AI, which could be applicable to both computer vision and simulation methods. We aim to tackle key problems towards clinical application of the methods developed in our work. One first key problem is the generalizability problem, i.e. proving that our methods are robust to diverse conditions. To this aim, we develop data augmentation techniques with original synthetic data generation methods. We have recently started working on coupling simulation and AI or computer vision methods in a synergistic fashion. Simulated models can for instance be a source of information to augment available data with semi-synthetic inputs in order to train more realistic AI models without increasing the data gathering and annotation costs. We are also increasingly interested in federated learning approaches, for training models with multi-centric sensitive data. <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:cvs.png|right|400px|Image-based estimation of the critical view of safety in cholecystectomy]]</div> <div style="position: relative; height: 1%;">[[Image:funsis.png|right|400px|Unsupervised tool segmentation in endoscopic videos]]</div> <div style="position: relative; height: 1%;">[[Image:pose_est.png|right|400px|3D pose estimation in the OR from RGBD cameras]]</div> <div style="position: relative; height: 1%;">[[Image:sperry.png|right|400px|Robotic needle insertion with finite element simulation in the control loop]]</div> <div style="position: relative; height: 1%;">[[Image:us_elasto.png|right|400px|MRI elastography]]</div> <div style="position: relative; height: 1%;">[[Image:veineporte.png|right|400px|Portal vein flow reconstruction from real-time imaging]]</div> <div style="position: relative; height: 1%;">[[Image:xaware.png|right|400px|Physical simulation for radiation exposure estimation in the OR]]</div> </slideshow> </div> 0a346128559184bd75f29c392515d6c475a304cd 256 255 2022-09-28T15:00:41Z B.rosa 6 wikitext text/x-wiki The Learning, Modelling, and Data Science team brings together researchers in the team who work on artificial intelligence (AI), simulation, and computer vision methods. == Computer vision, object recognition and scene understanding == Adlane Habed Nicolas Padoy Benoit Rosa This axis concerns the development of computer vision methods for object recognition, 3D scene understanding and assessment, endoscopic image segmentation, or surgical phase estimation. Optimization methods have been developed for applications such as the autocalibration of cameras or visual odometry. We are interested in building original, robust optimization algorithms, exploiting rich multi-modal information such as semantic maps. In the medical context, a driving theme is the development of a surgical control tower, monitoring events in the operating room. Majors results have been obtained using modern deep learning techniques, for instance regarding the 3D pose estimation of operators in the room, surgical phase estimation, and segmentationor pose estimation of surgical instruments. A limitation of such methods is the need for large, high quality datasets. We are therefore more and more interested in weakly- and self-supervised approaches, which exploit available data sources or a specific structure of the information in order to limit the amount of labeled data required. == Numerical simulation methods for surgical applications == Simon Chatelin Hadrien Courtecuisse Jean-Philippe Dillenseger The second major problem we tackle in this theme is the development of numerical simulation methods for surgical applications. A first application of such models is to help the design and modeling of robots. An interesting approach developed in partnership with researchers from the MLMS team is to include real-time finite element simulations within the control loop of a robotic system in order to anticipate environment deformations and interactions. We are also interested in developing biomechanical models of patient-specific features such as soft tissues. Finally, simulations can also drive the training of surgical staff, as shown with the X-aware prototype in which physical radiation models and AI-based 3D pose estimation allow making a clinician aware of his/her full body exposure to x-ray during interventional radiology procedures. == Data sience methods and clinical translation == Georgios Exarchagis Jean-Paul Mazellier Nicolas Padoy The last axis within this theme concerns transverse methodological research problems in AI, which could be applicable to both computer vision and simulation methods. We aim to tackle key problems towards clinical application of the methods developed in our work. One first key problem is the generalizability problem, i.e. proving that our methods are robust to diverse conditions. To this aim, we develop data augmentation techniques with original synthetic data generation methods. We have recently started working on coupling simulation and AI or computer vision methods in a synergistic fashion. Simulated models can for instance be a source of information to augment available data with semi-synthetic inputs in order to train more realistic AI models without increasing the data gathering and annotation costs. We are also increasingly interested in federated learning approaches, for training models with multi-centric sensitive data. <div style="position: relative; overflow: hidden; height: 500px;"> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:cvs.png|right|400px|Image-based estimation of the critical view of safety in cholecystectomy]]</div> <div style="position: relative; height: 1%;">[[Image:funsis.png|right|400px|Unsupervised tool segmentation in endoscopic videos]]</div> <div style="position: relative; height: 1%;">[[Image:pose_est.png|right|400px|3D pose estimation in the OR from RGBD cameras]]</div> <div style="position: relative; height: 1%;">[[Image:sperry.png|right|400px|Robotic needle insertion with finite element simulation in the control loop]]</div> <div style="position: relative; height: 1%;">[[Image:us_elasto.png|right|400px|MRI elastography]]</div> <div style="position: relative; height: 1%;">[[Image:veineporte.png|right|400px|Portal vein flow reconstruction from real-time imaging]]</div> <div style="position: relative; height: 1%;">[[Image:xaware.png|right|400px|Physical simulation for radiation exposure estimation in the OR]]</div> </slideshow> </div> </div> 2bf342b7937a4d4c850d446ce6a4dc383782b46b 257 256 2022-09-28T15:01:22Z B.rosa 6 wikitext text/x-wiki The Learning, Modelling, and Data Science team brings together researchers in the team who work on artificial intelligence (AI), simulation, and computer vision methods. == Computer vision, object recognition and scene understanding == Adlane Habed Nicolas Padoy Benoit Rosa This axis concerns the development of computer vision methods for object recognition, 3D scene understanding and assessment, endoscopic image segmentation, or surgical phase estimation. Optimization methods have been developed for applications such as the autocalibration of cameras or visual odometry. We are interested in building original, robust optimization algorithms, exploiting rich multi-modal information such as semantic maps. In the medical context, a driving theme is the development of a surgical control tower, monitoring events in the operating room. Majors results have been obtained using modern deep learning techniques, for instance regarding the 3D pose estimation of operators in the room, surgical phase estimation, and segmentationor pose estimation of surgical instruments. A limitation of such methods is the need for large, high quality datasets. We are therefore more and more interested in weakly- and self-supervised approaches, which exploit available data sources or a specific structure of the information in order to limit the amount of labeled data required. == Numerical simulation methods for surgical applications == Simon Chatelin Hadrien Courtecuisse Jean-Philippe Dillenseger The second major problem we tackle in this theme is the development of numerical simulation methods for surgical applications. A first application of such models is to help the design and modeling of robots. An interesting approach developed in partnership with researchers from the MLMS team is to include real-time finite element simulations within the control loop of a robotic system in order to anticipate environment deformations and interactions. We are also interested in developing biomechanical models of patient-specific features such as soft tissues. Finally, simulations can also drive the training of surgical staff, as shown with the X-aware prototype in which physical radiation models and AI-based 3D pose estimation allow making a clinician aware of his/her full body exposure to x-ray during interventional radiology procedures. == Data sience methods and clinical translation == Georgios Exarchagis Jean-Paul Mazellier Nicolas Padoy The last axis within this theme concerns transverse methodological research problems in AI, which could be applicable to both computer vision and simulation methods. We aim to tackle key problems towards clinical application of the methods developed in our work. One first key problem is the generalizability problem, i.e. proving that our methods are robust to diverse conditions. To this aim, we develop data augmentation techniques with original synthetic data generation methods. We have recently started working on coupling simulation and AI or computer vision methods in a synergistic fashion. Simulated models can for instance be a source of information to augment available data with semi-synthetic inputs in order to train more realistic AI models without increasing the data gathering and annotation costs. We are also increasingly interested in federated learning approaches, for training models with multi-centric sensitive data. <div style="position: relative; overflow: hidden; height: 500px;"> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:cvs.png|right|500px|Image-based estimation of the critical view of safety in cholecystectomy]]</div> <div style="position: relative; height: 1%;">[[Image:funsis.png|right|500px|Unsupervised tool segmentation in endoscopic videos]]</div> <div style="position: relative; height: 1%;">[[Image:pose_est.png|right|500px|3D pose estimation in the OR from RGBD cameras]]</div> <div style="position: relative; height: 1%;">[[Image:sperry.png|right|500px|Robotic needle insertion with finite element simulation in the control loop]]</div> <div style="position: relative; height: 1%;">[[Image:us_elasto.png|right|500px|MRI elastography]]</div> <div style="position: relative; height: 1%;">[[Image:veineporte.png|right|500px|Portal vein flow reconstruction from real-time imaging]]</div> <div style="position: relative; height: 1%;">[[Image:xaware.png|right|500px|Physical simulation for radiation exposure estimation in the OR]]</div> </slideshow> </div> </div> c9e8294837b3916f1104d209063d8b6f21bbc6df 258 257 2022-09-28T15:02:05Z B.rosa 6 wikitext text/x-wiki The Learning, Modelling, and Data Science team brings together researchers in the team who work on artificial intelligence (AI), simulation, and computer vision methods. <div style="position: relative; overflow: hidden; height: 500px;"> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:cvs.png|right|500px|Image-based estimation of the critical view of safety in cholecystectomy]]</div> <div style="position: relative; height: 1%;">[[Image:funsis.png|right|500px|Unsupervised tool segmentation in endoscopic videos]]</div> <div style="position: relative; height: 1%;">[[Image:pose_est.png|right|500px|3D pose estimation in the OR from RGBD cameras]]</div> <div style="position: relative; height: 1%;">[[Image:sperry.png|right|500px|Robotic needle insertion with finite element simulation in the control loop]]</div> <div style="position: relative; height: 1%;">[[Image:us_elasto.png|right|500px|MRI elastography]]</div> <div style="position: relative; height: 1%;">[[Image:veineporte.png|right|500px|Portal vein flow reconstruction from real-time imaging]]</div> <div style="position: relative; height: 1%;">[[Image:xaware.png|right|500px|Physical simulation for radiation exposure estimation in the OR]]</div> </slideshow> </div> </div> == Computer vision, object recognition and scene understanding == Adlane Habed Nicolas Padoy Benoit Rosa This axis concerns the development of computer vision methods for object recognition, 3D scene understanding and assessment, endoscopic image segmentation, or surgical phase estimation. Optimization methods have been developed for applications such as the autocalibration of cameras or visual odometry. We are interested in building original, robust optimization algorithms, exploiting rich multi-modal information such as semantic maps. In the medical context, a driving theme is the development of a surgical control tower, monitoring events in the operating room. Majors results have been obtained using modern deep learning techniques, for instance regarding the 3D pose estimation of operators in the room, surgical phase estimation, and segmentationor pose estimation of surgical instruments. A limitation of such methods is the need for large, high quality datasets. We are therefore more and more interested in weakly- and self-supervised approaches, which exploit available data sources or a specific structure of the information in order to limit the amount of labeled data required. == Numerical simulation methods for surgical applications == Simon Chatelin Hadrien Courtecuisse Jean-Philippe Dillenseger The second major problem we tackle in this theme is the development of numerical simulation methods for surgical applications. A first application of such models is to help the design and modeling of robots. An interesting approach developed in partnership with researchers from the MLMS team is to include real-time finite element simulations within the control loop of a robotic system in order to anticipate environment deformations and interactions. We are also interested in developing biomechanical models of patient-specific features such as soft tissues. Finally, simulations can also drive the training of surgical staff, as shown with the X-aware prototype in which physical radiation models and AI-based 3D pose estimation allow making a clinician aware of his/her full body exposure to x-ray during interventional radiology procedures. == Data sience methods and clinical translation == Georgios Exarchagis Jean-Paul Mazellier Nicolas Padoy The last axis within this theme concerns transverse methodological research problems in AI, which could be applicable to both computer vision and simulation methods. We aim to tackle key problems towards clinical application of the methods developed in our work. One first key problem is the generalizability problem, i.e. proving that our methods are robust to diverse conditions. To this aim, we develop data augmentation techniques with original synthetic data generation methods. We have recently started working on coupling simulation and AI or computer vision methods in a synergistic fashion. Simulated models can for instance be a source of information to augment available data with semi-synthetic inputs in order to train more realistic AI models without increasing the data gathering and annotation costs. We are also increasingly interested in federated learning approaches, for training models with multi-centric sensitive data. 0fe0eca19c9ff18cbfa3304373f7f972aefb7fe0 259 258 2022-09-28T15:02:28Z B.rosa 6 wikitext text/x-wiki The Learning, Modelling, and Data Science team brings together researchers in the team who work on artificial intelligence (AI), simulation, and computer vision methods. <div style="position: relative; overflow: hidden; height: 300px;"> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:cvs.png|right|500px|Image-based estimation of the critical view of safety in cholecystectomy]]</div> <div style="position: relative; height: 1%;">[[Image:funsis.png|right|500px|Unsupervised tool segmentation in endoscopic videos]]</div> <div style="position: relative; height: 1%;">[[Image:pose_est.png|right|500px|3D pose estimation in the OR from RGBD cameras]]</div> <div style="position: relative; height: 1%;">[[Image:sperry.png|right|500px|Robotic needle insertion with finite element simulation in the control loop]]</div> <div style="position: relative; height: 1%;">[[Image:us_elasto.png|right|500px|MRI elastography]]</div> <div style="position: relative; height: 1%;">[[Image:veineporte.png|right|500px|Portal vein flow reconstruction from real-time imaging]]</div> <div style="position: relative; height: 1%;">[[Image:xaware.png|right|500px|Physical simulation for radiation exposure estimation in the OR]]</div> </slideshow> </div> </div> == Computer vision, object recognition and scene understanding == Adlane Habed Nicolas Padoy Benoit Rosa This axis concerns the development of computer vision methods for object recognition, 3D scene understanding and assessment, endoscopic image segmentation, or surgical phase estimation. Optimization methods have been developed for applications such as the autocalibration of cameras or visual odometry. We are interested in building original, robust optimization algorithms, exploiting rich multi-modal information such as semantic maps. In the medical context, a driving theme is the development of a surgical control tower, monitoring events in the operating room. Majors results have been obtained using modern deep learning techniques, for instance regarding the 3D pose estimation of operators in the room, surgical phase estimation, and segmentationor pose estimation of surgical instruments. A limitation of such methods is the need for large, high quality datasets. We are therefore more and more interested in weakly- and self-supervised approaches, which exploit available data sources or a specific structure of the information in order to limit the amount of labeled data required. == Numerical simulation methods for surgical applications == Simon Chatelin Hadrien Courtecuisse Jean-Philippe Dillenseger The second major problem we tackle in this theme is the development of numerical simulation methods for surgical applications. A first application of such models is to help the design and modeling of robots. An interesting approach developed in partnership with researchers from the MLMS team is to include real-time finite element simulations within the control loop of a robotic system in order to anticipate environment deformations and interactions. We are also interested in developing biomechanical models of patient-specific features such as soft tissues. Finally, simulations can also drive the training of surgical staff, as shown with the X-aware prototype in which physical radiation models and AI-based 3D pose estimation allow making a clinician aware of his/her full body exposure to x-ray during interventional radiology procedures. == Data sience methods and clinical translation == Georgios Exarchagis Jean-Paul Mazellier Nicolas Padoy The last axis within this theme concerns transverse methodological research problems in AI, which could be applicable to both computer vision and simulation methods. We aim to tackle key problems towards clinical application of the methods developed in our work. One first key problem is the generalizability problem, i.e. proving that our methods are robust to diverse conditions. To this aim, we develop data augmentation techniques with original synthetic data generation methods. We have recently started working on coupling simulation and AI or computer vision methods in a synergistic fashion. Simulated models can for instance be a source of information to augment available data with semi-synthetic inputs in order to train more realistic AI models without increasing the data gathering and annotation costs. We are also increasingly interested in federated learning approaches, for training models with multi-centric sensitive data. 2519de80d3b085288c5735febbfc830ea2ec76ad 261 259 2022-09-28T20:50:18Z Schatelin 21 wikitext text/x-wiki The Learning, Modelling, and Data Science team brings together researchers in the team who work on artificial intelligence (AI), simulation, and computer vision methods. <div style="position: relative; overflow: hidden; height: 300px;"> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:cvs.png|right|500px|Image-based estimation of the critical view of safety in cholecystectomy]]</div> <div style="position: relative; height: 1%;">[[Image:funsis.png|right|500px|Unsupervised tool segmentation in endoscopic videos]]</div> <div style="position: relative; height: 1%;">[[Image:pose_est.png|right|500px|3D pose estimation in the OR from RGBD cameras]]</div> <div style="position: relative; height: 1%;">[[Image:sperry.png|right|500px|Robotic needle insertion with finite element simulation in the control loop]]</div> <div style="position: relative; height: 1%;">[[Image:us_elasto.png|right|500px|MRI elastography]]</div> <div style="position: relative; height: 1%;">[[Image:veineporte.png|right|500px|Portal vein flow reconstruction from real-time imaging]]</div> <div style="position: relative; height: 1%;">[[Image:xaware.png|right|500px|Physical simulation for radiation exposure estimation in the OR]]</div> </slideshow> </div> </div> == Computer vision, object recognition and scene understanding == Adlane Habed Nicolas Padoy Benoit Rosa This axis concerns the development of computer vision methods for object recognition, 3D scene understanding and assessment, endoscopic image segmentation, or surgical phase estimation. Optimization methods have been developed for applications such as the autocalibration of cameras or visual odometry. We are interested in building original, robust optimization algorithms, exploiting rich multi-modal information such as semantic maps. In the medical context, a driving theme is the development of a surgical control tower, monitoring events in the operating room. Majors results have been obtained using modern deep learning techniques, for instance regarding the 3D pose estimation of operators in the room, surgical phase estimation, and segmentationor pose estimation of surgical instruments. A limitation of such methods is the need for large, high quality datasets. We are therefore more and more interested in weakly- and self-supervised approaches, which exploit available data sources or a specific structure of the information in order to limit the amount of labeled data required. == Numerical simulation methods for surgical applications == Simon Chatelin Hadrien Courtecuisse Jean-Philippe Dillenseger The second major problem we tackle in this theme is the development of numerical simulation methods for surgical applications. A first application of such models is to help the design and modeling of robots. An interesting approach developed in partnership with researchers from the MLMS team is to include real-time finite element simulations within the control loop of a robotic system in order to anticipate environment deformations and interactions. We are also interested in developing biomechanical models of patient-specific features such as soft tissues. These developments are accompanied by the development of methods for the acquisition of multi-scale and patient-specific in vivo physical parameters via biomedical imaging (with a specific focus on elastography using preclinical and clinical MRI and ultrasound methods). Finally, simulations can also drive the training of surgical staff, as shown with the X-aware prototype in which physical radiation models and AI-based 3D pose estimation allow making a clinician aware of his/her full body exposure to x-ray during interventional radiology procedures. == Data sience methods and clinical translation == Georgios Exarchagis Jean-Paul Mazellier Nicolas Padoy The last axis within this theme concerns transverse methodological research problems in AI, which could be applicable to both computer vision and simulation methods. We aim to tackle key problems towards clinical application of the methods developed in our work. One first key problem is the generalizability problem, i.e. proving that our methods are robust to diverse conditions. To this aim, we develop data augmentation techniques with original synthetic data generation methods. We have recently started working on coupling simulation and AI or computer vision methods in a synergistic fashion. Simulated models can for instance be a source of information to augment available data with semi-synthetic inputs in order to train more realistic AI models without increasing the data gathering and annotation costs. We are also increasingly interested in federated learning approaches, for training models with multi-centric sensitive data. 908d8025a9d557bea77621a563038f5404830e33 262 261 2022-09-29T07:20:29Z Schatelin 21 wikitext text/x-wiki The Learning, Modelling, and Data Science team brings together researchers in the team who work on artificial intelligence (AI), simulation, and computer vision methods. <div style="position: relative; overflow: hidden; height: 300px;"> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:cvs.png|right|500px|Image-based estimation of the critical view of safety in cholecystectomy]]</div> <div style="position: relative; height: 1%;">[[Image:funsis.png|right|500px|Unsupervised tool segmentation in endoscopic videos]]</div> <div style="position: relative; height: 1%;">[[Image:pose_est.png|right|500px|3D pose estimation in the OR from RGBD cameras]]</div> <div style="position: relative; height: 1%;">[[Image:sperry.png|right|500px|Robotic needle insertion with finite element simulation in the control loop]]</div> <div style="position: relative; height: 1%;">[[Image:us_elasto.png|right|500px|MRI elastography]]</div> <div style="position: relative; height: 1%;">[[Image:veineporte.png|right|500px|Portal vein flow reconstruction from real-time imaging]]</div> <div style="position: relative; height: 1%;">[[Image:xaware.png|right|500px|Physical simulation for radiation exposure estimation in the OR]]</div> </slideshow> </div> </div> == Computer vision, object recognition and scene understanding == Adlane Habed Nicolas Padoy Benoit Rosa This axis concerns the development of computer vision methods for object recognition, 3D scene understanding and assessment, endoscopic image segmentation, or surgical phase estimation. Optimization methods have been developed for applications such as the autocalibration of cameras or visual odometry. We are interested in building original, robust optimization algorithms, exploiting rich multi-modal information such as semantic maps. In the medical context, a driving theme is the development of a surgical control tower, monitoring events in the operating room. Majors results have been obtained using modern deep learning techniques, for instance regarding the 3D pose estimation of operators in the room, surgical phase estimation, and segmentationor pose estimation of surgical instruments. A limitation of such methods is the need for large, high quality datasets. We are therefore more and more interested in weakly- and self-supervised approaches, which exploit available data sources or a specific structure of the information in order to limit the amount of labeled data required. == Numerical simulation methods for surgical applications == [https://www.simonchatelin.icube.cnrs.fr/ Simon Chatelin] Hadrien Courtecuisse Jean-Philippe Dillenseger The second major problem we tackle in this theme is the development of numerical simulation methods for surgical applications. A first application of such models is to help the design and modeling of robots. An interesting approach developed in partnership with researchers from the MLMS team is to include real-time finite element simulations within the control loop of a robotic system in order to anticipate environment deformations and interactions. We are also interested in developing biomechanical models of patient-specific features such as soft tissues. These developments are accompanied by the development of methods for the acquisition of multi-scale and patient-specific in vivo physical parameters via biomedical imaging (with a specific focus on elastography using preclinical and clinical MRI and ultrasound methods). Finally, simulations can also drive the training of surgical staff, as shown with the X-aware prototype in which physical radiation models and AI-based 3D pose estimation allow making a clinician aware of his/her full body exposure to x-ray during interventional radiology procedures. == Data sience methods and clinical translation == Georgios Exarchagis Jean-Paul Mazellier Nicolas Padoy The last axis within this theme concerns transverse methodological research problems in AI, which could be applicable to both computer vision and simulation methods. We aim to tackle key problems towards clinical application of the methods developed in our work. One first key problem is the generalizability problem, i.e. proving that our methods are robust to diverse conditions. To this aim, we develop data augmentation techniques with original synthetic data generation methods. We have recently started working on coupling simulation and AI or computer vision methods in a synergistic fashion. Simulated models can for instance be a source of information to augment available data with semi-synthetic inputs in order to train more realistic AI models without increasing the data gathering and annotation costs. We are also increasingly interested in federated learning approaches, for training models with multi-centric sensitive data. fb85facafd5d818f26490d7592695add5179112a 0 48 260 246 2022-09-28T15:57:37Z C.doignon 20 /* Active Markers */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, minimizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of nonlinear systems defined by algebro-differential equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] === A Completer === Iulia, Florent == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] Florent ? === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section ''Control of nonlinear systems defined by algebro-differential equations'' below for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] [[File:Motif parf14.jpg|thumb]] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre. === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 49bc0ae68c454d518a426b345ab99858201a5f07 263 260 2022-09-29T19:57:08Z Laroche 8 /* Control of nonlinear systems defined by algebro-differential equations */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, minimizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of nonlinear systems defined by algebro-differential equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables. === A Completer === Iulia, Florent == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] Florent ? === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section ''Control of nonlinear systems defined by algebro-differential equations'' below for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] [[File:Motif parf14.jpg|thumb]] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre. === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] bd2c4ab8cdcd37b5ddea2569559b7686512a1315 264 263 2022-09-30T07:56:07Z Laroche 8 /* Control of Cobots */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of nonlinear systems defined by algebro-differential equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables. === A Completer === Iulia, Florent == Parsimony == === Flexible Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr] Florent ? === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section ''Control of nonlinear systems defined by algebro-differential equations'' below for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] [[File:Motif parf14.jpg|thumb]] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre. === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 4a167d64910b2916b4ef4c983c5dc4080b56737f 266 264 2022-09-30T11:58:45Z Jacques.gangloff 11 /* Flexible Mechanisms */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of nonlinear systems defined by algebro-differential equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables. === A Completer === Iulia, Florent == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]/> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section ''Control of nonlinear systems defined by algebro-differential equations'' below for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] [[File:Motif parf14.jpg|thumb]] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre. === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 23ca1c433472d76615be71a5b54352b3037e2778 267 266 2022-09-30T11:59:52Z Jacques.gangloff 11 /* Compliant Mechanisms */ wikitext text/x-wiki The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of nonlinear systems defined by algebro-differential equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables. === A Completer === Iulia, Florent == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section ''Control of nonlinear systems defined by algebro-differential equations'' below for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] [[File:Motif parf14.jpg|thumb]] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre. === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] c1c29aa200c26b720804d8b7f097b4b96cd660fb 268 267 2022-09-30T12:03:03Z Jacques.gangloff 11 wikitext text/x-wiki <blockquote> Theme leaders Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of nonlinear systems defined by algebro-differential equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables. === A Completer === Iulia, Florent == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section ''Control of nonlinear systems defined by algebro-differential equations'' below for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] [[File:Motif parf14.jpg|thumb]] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre. === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] d7a72b6eec619b3c06d41057f5a3133f655d3e62 269 268 2022-09-30T12:04:04Z Jacques.gangloff 11 wikitext text/x-wiki <blockquote> Theme leaders Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of nonlinear systems defined by algebro-differential equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables. === A Completer === Iulia, Florent == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section ''Control of nonlinear systems defined by algebro-differential equations'' below for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] [[File:Motif parf14.jpg|thumb]] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre. === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] b57becf67f8c56ed8ffe42eab883f99ec1ba7bcf 270 269 2022-09-30T12:04:30Z Jacques.gangloff 11 wikitext text/x-wiki <blockquote> ===== Theme leaders ===== Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of nonlinear systems defined by algebro-differential equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables. === A Completer === Iulia, Florent == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section ''Control of nonlinear systems defined by algebro-differential equations'' below for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] [[File:Motif parf14.jpg|thumb]] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre. === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] b9cd0ec86cbc53640b02674112f7045b09fb1b6c 271 270 2022-09-30T12:04:53Z Jacques.gangloff 11 /* Theme leaders */ wikitext text/x-wiki <blockquote> ===== Theme Leaders ===== Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of nonlinear systems defined by algebro-differential equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables. === A Completer === Iulia, Florent == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section ''Control of nonlinear systems defined by algebro-differential equations'' below for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] [[File:Motif parf14.jpg|thumb]] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre. === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 121a115fe590155e86095f3465dd413286d069ca 272 271 2022-09-30T12:06:37Z Jacques.gangloff 11 wikitext text/x-wiki <blockquote> '''Theme Leaders''' Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of nonlinear systems defined by algebro-differential equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables. === A Completer === Iulia, Florent == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section ''Control of nonlinear systems defined by algebro-differential equations'' below for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] [[File:Motif parf14.jpg|thumb]] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre. === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] c4b4ca3fcaefd854b0dafce9b1ddcc2b843c068b 273 272 2022-09-30T12:08:47Z Jacques.gangloff 11 wikitext text/x-wiki <blockquote> '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of nonlinear systems defined by algebro-differential equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables. === A Completer === Iulia, Florent == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section ''Control of nonlinear systems defined by algebro-differential equations'' below for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] [[File:Motif parf14.jpg|thumb]] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre. === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 38302c190fab34e5654dd4e98adb3e03f60b4779 274 273 2022-09-30T12:10:15Z Bara.iuliana 19 /* Control of nonlinear systems defined by algebro-differential equations */ wikitext text/x-wiki <blockquote> '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of nonlinear systems defined by algebro-differential equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables. In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). === A Completer === Iulia, Florent == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section ''Control of nonlinear systems defined by algebro-differential equations'' below for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] [[File:Motif parf14.jpg|thumb]] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre. === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 64045b6b76582f06524131741075aedddf6c6cfd 275 274 2022-09-30T12:10:40Z Bara.iuliana 19 /* A Completer */ wikitext text/x-wiki <blockquote> '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of nonlinear systems defined by algebro-differential equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables. In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). === A Completer === Florent == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section ''Control of nonlinear systems defined by algebro-differential equations'' below for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] [[File:Motif parf14.jpg|thumb]] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre. === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 8f316b1b6f0670c5a636f752fb5c8807f081d1a2 276 275 2022-09-30T12:13:08Z Jacques.gangloff 11 /* Compliant Mechanisms */ wikitext text/x-wiki <blockquote> '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of nonlinear systems defined by algebro-differential equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables. In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). === A Completer === Florent == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. <gallery> mesoscopic_XY_FEA.jpg|Finite element simulation result for a 2D positioning system. </gallery> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section ''Control of nonlinear systems defined by algebro-differential equations'' below for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] [[File:Motif parf14.jpg|thumb]] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre. === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] d7eb959b84ebb96eab51aee9eff4cf4f45a1d246 277 276 2022-09-30T12:14:45Z Jacques.gangloff 11 /* Compliant Mechanisms */ wikitext text/x-wiki <blockquote> '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of nonlinear systems defined by algebro-differential equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables. In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). === A Completer === Florent == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[File:mesoscopic_XY_FEA.jpg|thumb]] === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section ''Control of nonlinear systems defined by algebro-differential equations'' below for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] [[File:Motif parf14.jpg|thumb]] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre. === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] b096b6f0802c011d41d16db97e9ea8a712bd35fd 278 277 2022-09-30T12:16:15Z Jacques.gangloff 11 /* Compliant Mechanisms */ wikitext text/x-wiki <blockquote> '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of nonlinear systems defined by algebro-differential equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables. In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). === A Completer === Florent == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|200px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section ''Control of nonlinear systems defined by algebro-differential equations'' below for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] [[File:Motif parf14.jpg|thumb]] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre. === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] de2268fbe95a9080db4f20e380d445b120937eab 280 278 2022-09-30T12:20:16Z Jacques.gangloff 11 /* Active Markers */ wikitext text/x-wiki <blockquote> '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of nonlinear systems defined by algebro-differential equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables. In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). === A Completer === Florent == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|200px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section ''Control of nonlinear systems defined by algebro-differential equations'' below for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] [[File:Motif parf14.jpg|thumb]] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre. [[Image:Motif parf14.jpg|thumb|left|200px|Perfect pattern]] <br style="clear: both" /> === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 7840c776ca07e7e00f2e833d563c446e298e11a0 281 280 2022-09-30T12:21:10Z Jacques.gangloff 11 /* Active Markers */ wikitext text/x-wiki <blockquote> '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of nonlinear systems defined by algebro-differential equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables. In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). === A Completer === Florent == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|200px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section ''Control of nonlinear systems defined by algebro-differential equations'' below for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre. [[Image:Motif parf14.jpg|thumb|left|400px]] <br style="clear: both" /> === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] da6111fccdc14de54de9c88e0a41c998d91bd0ee 282 281 2022-09-30T12:21:42Z Jacques.gangloff 11 /* Active Markers */ wikitext text/x-wiki <blockquote> '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of nonlinear systems defined by algebro-differential equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables. In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). === A Completer === Florent == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|200px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section ''Control of nonlinear systems defined by algebro-differential equations'' below for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre. [[Image:Motif parf14.jpg|thumb|left|400px|So called "perfect" matrix]] <br style="clear: both" /> === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] e410788e03f617f52c8c4817891bdb547236cc1e 283 282 2022-09-30T12:22:04Z Jacques.gangloff 11 /* Active Markers */ wikitext text/x-wiki <blockquote> '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of nonlinear systems defined by algebro-differential equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables. In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). === A Completer === Florent == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|200px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section ''Control of nonlinear systems defined by algebro-differential equations'' below for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre. [[Image:Motif parf14.jpg|thumb|left|400px|So called "perfect" matrix and some associated patterns]] <br style="clear: both" /> === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 49b49df8deb8004f321e5b138fe59a8858f7a016 284 283 2022-09-30T12:22:26Z Jacques.gangloff 11 /* Parsimony */ wikitext text/x-wiki <blockquote> '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of nonlinear systems defined by algebro-differential equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables. In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). === A Completer === Florent == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|400px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section ''Control of nonlinear systems defined by algebro-differential equations'' below for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre. [[Image:Motif parf14.jpg|thumb|left|400px|So called "perfect" matrix and some associated patterns]] <br style="clear: both" /> === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] d352c6f0ab4e4a1295ae65888ac31a4343be88ed 285 284 2022-09-30T12:23:02Z Laroche 8 /* Control of nonlinear systems defined by algebro-differential equations */ wikitext text/x-wiki <blockquote> '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of nonlinear systems defined by algebro-differential equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables (PhD of Rima Saadaoui). In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). === A Completer === Florent == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|400px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section ''Control of nonlinear systems defined by algebro-differential equations'' below for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre. [[Image:Motif parf14.jpg|thumb|left|400px|So called "perfect" matrix and some associated patterns]] <br style="clear: both" /> === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 1b6ae85a9c375811aa0c681d83c59fac026520a8 286 285 2022-09-30T12:23:21Z Jacques.gangloff 11 /* A Completer */ wikitext text/x-wiki <blockquote> '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of nonlinear systems defined by algebro-differential equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables (PhD of Rima Saadaoui). In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). === A Completer === Florent, Iulia == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|400px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section ''Control of nonlinear systems defined by algebro-differential equations'' below for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre. [[Image:Motif parf14.jpg|thumb|left|400px|So called "perfect" matrix and some associated patterns]] <br style="clear: both" /> === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] e1bf2598e4ebc70669a33316727fbc01ef2946c8 287 286 2022-09-30T12:26:49Z Jacques.gangloff 11 /* Cable-Driven Parallel Robotics */ wikitext text/x-wiki <blockquote> '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of nonlinear systems defined by algebro-differential equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables (PhD of Rima Saadaoui). In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). === A Completer === Florent, Iulia == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|400px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section [[Complex_Systems_and_Parsimony#Control_of_nonlinear_systems_defined_by_algebro-differential_equations|Control of Nonlinear Systems Defined by Algebro-differential Equations]] above for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre. [[Image:Motif parf14.jpg|thumb|left|400px|So called "perfect" matrix and some associated patterns]] <br style="clear: both" /> === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 199c71ef13abd391d4c2e8ec1a83bbcaa88f3c04 288 287 2022-09-30T12:27:26Z Jacques.gangloff 11 /* Control of nonlinear systems defined by algebro-differential equations */ wikitext text/x-wiki <blockquote> '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of Nonlinear Systems Defined by Algebro-differential Equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables (PhD of Rima Saadaoui). In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). === A Completer === Florent, Iulia == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|400px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section [[Complex_Systems_and_Parsimony#Control_of_nonlinear_systems_defined_by_algebro-differential_equations|Control of Nonlinear Systems Defined by Algebro-differential Equations]] above for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre. [[Image:Motif parf14.jpg|thumb|left|400px|So called "perfect" matrix and some associated patterns]] <br style="clear: both" /> === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] c4fa97288aab487f66cc686f2cd12537ca4925e3 289 288 2022-09-30T12:28:01Z Jacques.gangloff 11 /* Control of Nonlinear Systems Defined by Algebro-differential Equations */ wikitext text/x-wiki <blockquote> '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of Nonlinear Systems Defined by Algebro-differential Equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables (PhD of Rima Saadaoui). In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). === A Completer === Florent, Iulia == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|400px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section [[Complex_Systems_and_Parsimony#Control_of_nonlinear_systems_defined_by_algebro-differential_equations|Control of Nonlinear Systems Defined by Algebro-differential Equations]] above for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre. [[Image:Motif parf14.jpg|thumb|left|400px|So called "perfect" matrix and some associated patterns]] <br style="clear: both" /> === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] f8ebf39c6f3ec999aab528ab1991a6cf8b5579db 290 289 2022-09-30T12:28:33Z Jacques.gangloff 11 /* Cable-Driven Parallel Robotics */ wikitext text/x-wiki <blockquote> '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of Nonlinear Systems Defined by Algebro-differential Equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables (PhD of Rima Saadaoui). In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). === A Completer === Florent, Iulia == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|400px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section [[Complex_Systems_and_Parsimony#Control_of_Nonlinear_Systems_Defined_by_Algebro-differential_Equations|Control of Nonlinear Systems Defined by Algebro-differential Equations]] above for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre. [[Image:Motif parf14.jpg|thumb|left|400px|So called "perfect" matrix and some associated patterns]] <br style="clear: both" /> === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] b0fa2f7895db816e67c4377f13c4d7370d93cfa2 291 290 2022-09-30T12:30:38Z Jacques.gangloff 11 /* Active Markers */ wikitext text/x-wiki <blockquote> '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of Nonlinear Systems Defined by Algebro-differential Equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables (PhD of Rima Saadaoui). In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). === A Completer === Florent, Iulia == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|400px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section [[Complex_Systems_and_Parsimony#Control_of_Nonlinear_Systems_Defined_by_Algebro-differential_Equations|Control of Nonlinear Systems Defined by Algebro-differential Equations]] above for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com project dextAIR] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] <!--Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre.--> Tracking and visual servoing with coded structured lighting. More specifically, embedded and lightweight systems are targeted. When these systems are articulated, the mechanical structure is very light and the precise guidance of movements is a challenge. When the environment in which these systems evolve exhibits variability (of luminosity, of texture), or even when no visual cue is perceptible by the sensor, artificial matrix markers embedding information redundancy are projected on the object of interest, with a device that is also embedded. Research problems related to real-time encoding/decoding of digital patterns, dynamic choice of visual cues to be projected, registration and automatic control are then studied in this framework. [[Image:Motif parf14.jpg|thumb|left|400px|So called "perfect" matrix and some associated patterns]] <br style="clear: both" /> === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 245fbad6d76b6ac5ec57c638d1b8a44ed7799c33 292 291 2022-09-30T12:31:04Z Jacques.gangloff 11 /* Aerial Manipulation */ wikitext text/x-wiki <blockquote> '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of Nonlinear Systems Defined by Algebro-differential Equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables (PhD of Rima Saadaoui). In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). === A Completer === Florent, Iulia == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|400px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section [[Complex_Systems_and_Parsimony#Control_of_Nonlinear_Systems_Defined_by_Algebro-differential_Equations|Control of Nonlinear Systems Defined by Algebro-differential Equations]] above for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com dextAIR project] is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] <!--Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre.--> Tracking and visual servoing with coded structured lighting. More specifically, embedded and lightweight systems are targeted. When these systems are articulated, the mechanical structure is very light and the precise guidance of movements is a challenge. When the environment in which these systems evolve exhibits variability (of luminosity, of texture), or even when no visual cue is perceptible by the sensor, artificial matrix markers embedding information redundancy are projected on the object of interest, with a device that is also embedded. Research problems related to real-time encoding/decoding of digital patterns, dynamic choice of visual cues to be projected, registration and automatic control are then studied in this framework. [[Image:Motif parf14.jpg|thumb|left|400px|So called "perfect" matrix and some associated patterns]] <br style="clear: both" /> === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 6599093d6411bc13b7558496b1d2a5b4c4221038 293 292 2022-09-30T12:31:40Z Jacques.gangloff 11 /* Aerial Manipulation */ wikitext text/x-wiki <blockquote> '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of Nonlinear Systems Defined by Algebro-differential Equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables (PhD of Rima Saadaoui). In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). === A Completer === Florent, Iulia == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|400px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section [[Complex_Systems_and_Parsimony#Control_of_Nonlinear_Systems_Defined_by_Algebro-differential_Equations|Control of Nonlinear Systems Defined by Algebro-differential Equations]] above for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com dextAIR project] is to study a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] <!--Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre.--> Tracking and visual servoing with coded structured lighting. More specifically, embedded and lightweight systems are targeted. When these systems are articulated, the mechanical structure is very light and the precise guidance of movements is a challenge. When the environment in which these systems evolve exhibits variability (of luminosity, of texture), or even when no visual cue is perceptible by the sensor, artificial matrix markers embedding information redundancy are projected on the object of interest, with a device that is also embedded. Research problems related to real-time encoding/decoding of digital patterns, dynamic choice of visual cues to be projected, registration and automatic control are then studied in this framework. [[Image:Motif parf14.jpg|thumb|left|400px|So called "perfect" matrix and some associated patterns]] <br style="clear: both" /> === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 01843d66c80dbdc77c6058cf5bb2f9710165b3c8 294 293 2022-09-30T12:34:15Z Laroche 8 /* Control of Nonlinear Systems Defined by Algebro-differential Equations */ wikitext text/x-wiki <blockquote> '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of Nonlinear Systems Defined by Algebro-differential Equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore unusable for some methods for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables (PhD of Rima Saadaoui). In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). === A Completer === Florent, Iulia == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|400px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section [[Complex_Systems_and_Parsimony#Control_of_Nonlinear_Systems_Defined_by_Algebro-differential_Equations|Control of Nonlinear Systems Defined by Algebro-differential Equations]] above for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com dextAIR project] is to study a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] <!--Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre.--> Tracking and visual servoing with coded structured lighting. More specifically, embedded and lightweight systems are targeted. When these systems are articulated, the mechanical structure is very light and the precise guidance of movements is a challenge. When the environment in which these systems evolve exhibits variability (of luminosity, of texture), or even when no visual cue is perceptible by the sensor, artificial matrix markers embedding information redundancy are projected on the object of interest, with a device that is also embedded. Research problems related to real-time encoding/decoding of digital patterns, dynamic choice of visual cues to be projected, registration and automatic control are then studied in this framework. [[Image:Motif parf14.jpg|thumb|left|400px|So called "perfect" matrix and some associated patterns]] <br style="clear: both" /> === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 2e3fafc56557965cdbcbf58bfe133439fa1cb893 295 294 2022-09-30T12:36:11Z Laroche 8 /* Control of Nonlinear Systems Defined by Algebro-differential Equations */ wikitext text/x-wiki <blockquote> '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of Nonlinear Systems Defined by Algebro-differential Equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore unusable for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables (PhD of Rima Saadaoui). In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). === A Completer === Florent, Iulia == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|400px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section [[Complex_Systems_and_Parsimony#Control_of_Nonlinear_Systems_Defined_by_Algebro-differential_Equations|Control of Nonlinear Systems Defined by Algebro-differential Equations]] above for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com dextAIR project] is to study a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] <!--Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre.--> Tracking and visual servoing with coded structured lighting. More specifically, embedded and lightweight systems are targeted. When these systems are articulated, the mechanical structure is very light and the precise guidance of movements is a challenge. When the environment in which these systems evolve exhibits variability (of luminosity, of texture), or even when no visual cue is perceptible by the sensor, artificial matrix markers embedding information redundancy are projected on the object of interest, with a device that is also embedded. Research problems related to real-time encoding/decoding of digital patterns, dynamic choice of visual cues to be projected, registration and automatic control are then studied in this framework. [[Image:Motif parf14.jpg|thumb|left|400px|So called "perfect" matrix and some associated patterns]] <br style="clear: both" /> === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] fadf35785e583a403ef9ac17ea8e8716b4fae217 296 295 2022-09-30T12:36:39Z Bara.iuliana 19 /* A Completer */ wikitext text/x-wiki <blockquote> '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of Nonlinear Systems Defined by Algebro-differential Equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore unusable for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables (PhD of Rima Saadaoui). In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). === A Completer === Florent == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|400px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section [[Complex_Systems_and_Parsimony#Control_of_Nonlinear_Systems_Defined_by_Algebro-differential_Equations|Control of Nonlinear Systems Defined by Algebro-differential Equations]] above for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com dextAIR project] is to study a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] <!--Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre.--> Tracking and visual servoing with coded structured lighting. More specifically, embedded and lightweight systems are targeted. When these systems are articulated, the mechanical structure is very light and the precise guidance of movements is a challenge. When the environment in which these systems evolve exhibits variability (of luminosity, of texture), or even when no visual cue is perceptible by the sensor, artificial matrix markers embedding information redundancy are projected on the object of interest, with a device that is also embedded. Research problems related to real-time encoding/decoding of digital patterns, dynamic choice of visual cues to be projected, registration and automatic control are then studied in this framework. [[Image:Motif parf14.jpg|thumb|left|400px|So called "perfect" matrix and some associated patterns]] <br style="clear: both" /> === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] bcb6bb9b17dbb3dcff9815a833cbab53f2813297 298 296 2022-09-30T12:57:33Z Bernard.bayle 5 /* A Completer */ wikitext text/x-wiki <blockquote> '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of Nonlinear Systems Defined by Algebro-differential Equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore unusable for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables (PhD of Rima Saadaoui). In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|400px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section [[Complex_Systems_and_Parsimony#Control_of_Nonlinear_Systems_Defined_by_Algebro-differential_Equations|Control of Nonlinear Systems Defined by Algebro-differential Equations]] above for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com dextAIR project] is to study a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] <!--Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre.--> Tracking and visual servoing with coded structured lighting. More specifically, embedded and lightweight systems are targeted. When these systems are articulated, the mechanical structure is very light and the precise guidance of movements is a challenge. When the environment in which these systems evolve exhibits variability (of luminosity, of texture), or even when no visual cue is perceptible by the sensor, artificial matrix markers embedding information redundancy are projected on the object of interest, with a device that is also embedded. Research problems related to real-time encoding/decoding of digital patterns, dynamic choice of visual cues to be projected, registration and automatic control are then studied in this framework. [[Image:Motif parf14.jpg|thumb|left|400px|So called "perfect" matrix and some associated patterns]] <br style="clear: both" /> === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 994a337e81d85dd8dff32f2af9a8ebbf7e212037 0 28 265 151 2022-09-30T11:52:47Z Jacques.gangloff 11 /* Distinctions */ wikitext text/x-wiki [[Image:Jacques.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA Chaine YouTube] * Twitter : [https://twitter.com/JacquesGangloff?lang=fr @JacquesGangloff] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Skype : jacques.gangloff * Téléphone : 03 67 10 61 79 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C132 * Adresse perso : région de Strasbourg =Curriculum Vitae= * 1969 : Année de naissance * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS). * 1994 : Intégration de l'ENS de Cachan. * 1995 : Agrégation de génie électrique. * 1996 : DEA de photonique et image. * 1999 : Thèse de doctorat. * 2000 : Maître de conférences. * 2004 : Habilitation à diriger les recherches. * 2005 : Professeur des universités. =Certificats d'authenticité= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats] <br style="clear: both" /> =Responsabilités= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Co-animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques 61/63 de l’université de Strasbourg depuis 2015. == Responsabilités antérieures == * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours de commande prédictive ** Cours d'informatique temps-réel ** Cours de technologie des asservissements ** Cours de technologies vertes == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] =Recherche= ==Thématiques== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 3294f522156b2ff0d1e70b422619a190684bc626 6 60 279 2022-09-30T12:16:35Z Jacques.gangloff 11 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 0 7 297 174 2022-09-30T12:56:26Z Jacques.gangloff 11 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 500px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. It emphasizes research recognized at the best international level, in particular in medical robotics and data science for health: * '''Medical Robotics and Interventional Imaging''' gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''Learning, modeling and data science''' gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''[[Complex Systems and Parsimony|Complex systems and parsimony]]''' gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div style="position: relative; height: 1%;">[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div style="position: relative; height: 1%;">[[Image:Im4_t3.jpg|right|400px|Caption 2|link=Complex Systems and Parsimony]]</div> <div style="position: relative; height: 1%;">[[Image:Im5_t3.jpg|right|400px|Caption 2|link=Complex Systems and Parsimony]]</div> </slideshow> </div> </div> c88c8923d2cf828c1a3c8a6079e70702fa607d4d 301 297 2022-09-30T13:00:59Z Jacques.gangloff 11 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 500px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. It emphasizes research recognized at the best international level, in particular in medical robotics and data science for health: * '''Medical Robotics and Interventional Imaging''' gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''Learning, modeling and data science''' gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''[[Complex Systems and Parsimony|Complex systems and parsimony]]''' gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div style="position: relative; height: 1%;">[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div style="position: relative; height: 1%;">[[Image:Im4_t3.jpg|right|400px|Climatology Drone|link=Complex Systems and Parsimony]]</div> <div style="position: relative; height: 1%;">[[Image:Im6_t3.jpg|right|400px|Street Art Drone|link=Complex Systems and Parsimony]]</div> </slideshow> </div> </div> 5f1c6df37f7526b7ead2f66eee8dfca8a223fe6a 303 301 2022-09-30T13:03:21Z Jacques.gangloff 11 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 500px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. It emphasizes research recognized at the best international level, in particular in medical robotics and data science for health: * '''Medical Robotics and Interventional Imaging''' gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''Learning, modeling and data science''' gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''[[Complex Systems and Parsimony|Complex systems and parsimony]]''' gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 1%;">[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div style="position: relative; height: 1%;">[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div style="position: relative; height: 1%;">[[Image:Im4_t3.jpg|right|400px|Climatology Drone|link=Complex Systems and Parsimony]]</div> <div style="position: relative; height: 1%;">[[Image:Im6_t3.jpg|right|400px|Street Art Drone|link=Complex Systems and Parsimony]]</div> </slideshow> </div> </div> 148783707b7843caf011fedd52a3a2974f60ad31 6 61 299 2022-09-30T12:58:43Z Jacques.gangloff 11 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 6 62 300 2022-09-30T12:59:13Z Jacques.gangloff 11 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 6 63 302 2022-09-30T13:02:22Z Jacques.gangloff 11 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 0 7 304 303 2022-09-30T13:04:59Z Jacques.gangloff 11 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 500px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. It emphasizes research recognized at the best international level, in particular in medical robotics and data science for health: * '''Medical Robotics and Interventional Imaging''' gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''Learning, modeling and data science''' gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''[[Complex Systems and Parsimony|Complex systems and parsimony]]''' gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 10%;">[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div style="position: relative; height: 10%;">[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div style="position: relative; height: 10%;">[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div style="position: relative; height: 10%;">[[Image:Im4_t3.jpg|right|400px|Climatology Drone|link=Complex Systems and Parsimony]]</div> <div style="position: relative; height: 10%;">[[Image:Im6_t3.jpg|right|400px|Street Art Drone|link=Complex Systems and Parsimony]]</div> </slideshow> </div> </div> 0b1f61448f5a1c06d3dac6f56a44201bb2f8d11d 305 304 2022-09-30T13:06:11Z Jacques.gangloff 11 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 500px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. It emphasizes research recognized at the best international level, in particular in medical robotics and data science for health: * '''Medical Robotics and Interventional Imaging''' gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''Learning, modeling and data science''' gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''[[Complex Systems and Parsimony|Complex systems and parsimony]]''' gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div>[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div>[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div>[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div>[[Image:Im4_t3.jpg|right|400px|Climatology Drone|link=Complex Systems and Parsimony]]</div> <div>[[Image:Im6_t3.jpg|right|400px|Street Art Drone|link=Complex Systems and Parsimony]]</div> </slideshow> </div> </div> b1092a917f55552918b487399317e9376bd2fd96 306 305 2022-09-30T13:07:15Z Jacques.gangloff 11 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 1000px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. It emphasizes research recognized at the best international level, in particular in medical robotics and data science for health: * '''Medical Robotics and Interventional Imaging''' gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''Learning, modeling and data science''' gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''[[Complex Systems and Parsimony|Complex systems and parsimony]]''' gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div>[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div>[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div>[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div>[[Image:Im4_t3.jpg|right|400px|Climatology Drone|link=Complex Systems and Parsimony]]</div> <div>[[Image:Im6_t3.jpg|right|400px|Street Art Drone|link=Complex Systems and Parsimony]]</div> </slideshow> </div> </div> 187bb5d67a4ef637708844e338d4adaf58bb104d 307 306 2022-09-30T13:11:55Z Jacques.gangloff 11 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 1000px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. It emphasizes research recognized at the best international level, in particular in medical robotics and data science for health: * '''Medical Robotics and Interventional Imaging''' gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''Learning, modeling and data science''' gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''[[Complex Systems and Parsimony|Complex systems and parsimony]]''' gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="inline"> <div>[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div>[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div>[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div>[[Image:Im4_t3.jpg|right|400px|Climatology Drone|link=Complex Systems and Parsimony]]</div> <div>[[Image:Im6_t3.jpg|right|400px|Street Art Drone|link=Complex Systems and Parsimony]]</div> </slideshow> </div> </div> f4dda43631df617a1023b257f74b9fe42f365ab0 308 307 2022-09-30T13:12:44Z Jacques.gangloff 11 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 1000px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. It emphasizes research recognized at the best international level, in particular in medical robotics and data science for health: * '''Medical Robotics and Interventional Imaging''' gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''Learning, modeling and data science''' gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''[[Complex Systems and Parsimony|Complex systems and parsimony]]''' gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div>[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div>[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div>[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div>[[Image:Im4_t3.jpg|right|400px|Climatology Drone|link=Complex Systems and Parsimony]]</div> <div>[[Image:Im6_t3.jpg|right|400px|Street Art Drone|link=Complex Systems and Parsimony]]</div> </slideshow> </div> </div> 187bb5d67a4ef637708844e338d4adaf58bb104d 326 308 2022-10-06T08:52:23Z B.rosa 6 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 1000px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. It emphasizes research recognized at the best international level, in particular in medical robotics and data science for health: * '''Medical Robotics and Interventional Imaging''' gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''[[Learning, Modelling and Data Science]]''' gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''[[Complex Systems and Parsimony|Complex systems and parsimony]]''' gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div>[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div>[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div>[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div>[[Image:Im4_t3.jpg|right|400px|Climatology Drone|link=Complex Systems and Parsimony]]</div> <div>[[Image:Im6_t3.jpg|right|400px|Street Art Drone|link=Complex Systems and Parsimony]]</div> </slideshow> </div> </div> f6d63ffacc97296d54fa68a6f3cae79e158e5dff 329 326 2022-10-06T08:57:25Z B.rosa 6 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 1000px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. It emphasizes research recognized at the best international level, in particular in medical robotics and data science for health: * '''[[Medical Robotics and Interventional Imaging]]''' gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''[[Learning, Modelling and Data Science]]''' gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''[[Complex Systems and Parsimony|Complex systems and parsimony]]''' gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div>[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div>[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div>[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div>[[Image:Im4_t3.jpg|right|400px|Climatology Drone|link=Complex Systems and Parsimony]]</div> <div>[[Image:Im6_t3.jpg|right|400px|Street Art Drone|link=Complex Systems and Parsimony]]</div> </slideshow> </div> </div> 3d43b432ab5df9beb3ee6d4f42551d670f7d00c7 330 329 2022-10-06T09:00:38Z B.rosa 6 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 1000px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. It emphasizes research recognized at the best international level, in particular in medical robotics and data science for health: * '''[[Medical Robotics and Interventional Imaging]]''' gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''[[Learning, Modelling and Data Science]]''' gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''[[Complex Systems and Parsimony|Complex systems and parsimony]]''' gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div>[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical robotics and Interventional imaging]]</div> <div>[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div>[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, modelling and data science]]</div> <div>[[Image:Im4_t3.jpg|right|400px|Climatology Drone|link=Complex Systems and Parsimony]]</div> <div>[[Image:Im6_t3.jpg|right|400px|Street Art Drone|link=Complex Systems and Parsimony]]</div> <div>[[Image:cvs.png|right|400px|Image-based estimation of the critical view of safety in cholecystectomy|link=Learning, modelling and data science]]</div> <div>[[Image:sperry.png|right|500px|Robotic needle insertion with finite element simulation in the control loop|link=Learning, modelling and data science]]</div> </slideshow> </div> </div> fa817ec2e6bc8eff0cff141de00afebc957d62aa 331 330 2022-10-06T09:01:28Z B.rosa 6 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 1000px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. It emphasizes research recognized at the best international level, in particular in medical robotics and data science for health: * '''[[Medical Robotics and Interventional Imaging]]''' gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''[[Learning, Modelling and Data Science]]''' gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''[[Complex Systems and Parsimony|Complex systems and parsimony]]''' gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div>[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical robotics and Interventional Imaging]]</div> <div>[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Medical robotics and Interventional Imaging]]</div> <div>[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, Modelling and Data Science]]</div> <div>[[Image:Im4_t3.jpg|right|400px|Climatology Drone|link=Complex Systems and Parsimony]]</div> <div>[[Image:Im6_t3.jpg|right|400px|Street Art Drone|link=Complex Systems and Parsimony]]</div> <div>[[Image:cvs.png|right|400px|Image-based estimation of the critical view of safety in cholecystectomy|link=Learning, Modelling and Data Science]]</div> <div>[[Image:sperry.png|right|500px|Robotic needle insertion with finite element simulation in the control loop|link=Learning, Modelling and Data Science]]</div> </slideshow> </div> </div> 0ac98185f278306f0b666aeb1c6775a4352e5ce9 332 331 2022-10-06T09:02:15Z B.rosa 6 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 1000px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. It emphasizes research recognized at the best international level, in particular in medical robotics and data science for health: * '''[[Medical Robotics and Interventional Imaging]]''' gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''[[Learning, Modelling and Data Science]]''' gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''[[Complex Systems and Parsimony|Complex systems and parsimony]]''' gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div>[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, Modelling and Data Science]]</div> <div>[[Image:Im4_t3.jpg|right|400px|Climatology Drone|link=Complex Systems and Parsimony]]</div> <div>[[Image:Im6_t3.jpg|right|400px|Street Art Drone|link=Complex Systems and Parsimony]]</div> <div>[[Image:cvs.png|right|400px|Image-based estimation of the critical view of safety in cholecystectomy|link=Learning, Modelling and Data Science]]</div> <div>[[Image:sperry.png|right|500px|Robotic needle insertion with finite element simulation in the control loop|link=Learning, Modelling and Data Science]]</div> </slideshow> </div> </div> ab86407297b6bfca775ac08c47283925f59aa908 341 332 2022-10-19T12:40:08Z Bernard.bayle 5 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 1000px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. It emphasizes research recognized at the best international level, in particular in medical robotics and data science for health: * '''[[Medical Robotics and Interventional Imaging]]''' gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''[[Learning, Modelling and Data Science]]''' gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''[[Complex Systems and Parsimony|Complex systems and parsimony]]''' gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div>[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:Im2bis.jpg.jpg|right|400px|Caption 2|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, Modelling and Data Science]]</div> <div>[[Image:Im4_t3.jpg|right|300px|Climatology Drone|link=Complex Systems and Parsimony]]</div> <div>[[Image:Im6_t3.jpg|right|300px|Street Art Drone|link=Complex Systems and Parsimony]]</div> <div>[[Image:cvs.png|right|400px|Image-based estimation of the critical view of safety in cholecystectomy|link=Learning, Modelling and Data Science]]</div> <div>[[Image:sperry.png|right|400px|Robotic needle insertion with finite element simulation in the control loop|link=Learning, Modelling and Data Science]]</div> </slideshow> </div> </div> f6990d125e2ba965956e2307649a0b17c3b8b586 342 341 2022-10-19T12:40:49Z Bernard.bayle 5 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 1000px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. It emphasizes research recognized at the best international level, in particular in medical robotics and data science for health: * '''[[Medical Robotics and Interventional Imaging]]''' gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''[[Learning, Modelling and Data Science]]''' gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''[[Complex Systems and Parsimony|Complex systems and parsimony]]''' gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div>[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:Im2.jpg.jpg|right|400px|Caption 2|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, Modelling and Data Science]]</div> <div>[[Image:Im4_t3.jpg|right|300px|Climatology Drone|link=Complex Systems and Parsimony]]</div> <div>[[Image:Im6_t3.jpg|right|300px|Street Art Drone|link=Complex Systems and Parsimony]]</div> <div>[[Image:cvs.png|right|400px|Image-based estimation of the critical view of safety in cholecystectomy|link=Learning, Modelling and Data Science]]</div> <div>[[Image:sperry.png|right|400px|Robotic needle insertion with finite element simulation in the control loop|link=Learning, Modelling and Data Science]]</div> </slideshow> </div> </div> b28fcbb6c438d12f18c6da3a411f9c775a01165e 344 342 2022-10-19T12:44:37Z Bernard.bayle 5 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 1000px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. It emphasizes research recognized at the best international level, in particular in medical robotics and data science for health: * '''[[Medical Robotics and Interventional Imaging]]''' gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''[[Learning, Modelling and Data Science]]''' gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''[[Complex Systems and Parsimony|Complex systems and parsimony]]''' gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div>[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:2022_rdh_porfolio.jpg|right|400px|Caption 2|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, Modelling and Data Science]]</div> <div>[[Image:Im4_t3.jpg|right|300px|Climatology Drone|link=Complex Systems and Parsimony]]</div> <div>[[Image:Im6_t3.jpg|right|300px|Street Art Drone|link=Complex Systems and Parsimony]]</div> <div>[[Image:cvs.png|right|400px|Image-based estimation of the critical view of safety in cholecystectomy|link=Learning, Modelling and Data Science]]</div> <div>[[Image:sperry.png|right|400px|Robotic needle insertion with finite element simulation in the control loop|link=Learning, Modelling and Data Science]]</div> </slideshow> </div> </div> 92d0494e9a6c3e1a747c90257941b70a69b5e393 346 344 2022-10-19T12:51:16Z Bernard.bayle 5 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 1000px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. It emphasizes research recognized at the best international level, in particular in medical robotics and data science for health: * '''[[Medical Robotics and Interventional Imaging]]''' gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''[[Learning, Modelling and Data Science]]''' gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''[[Complex Systems and Parsimony|Complex systems and parsimony]]''' gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div>[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:2022_rdh_porfolio.jpg|right|400px|Caption 2|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:2022_rdh_porfolio.jpg|right|400px|Caption 2|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, Modelling and Data Science]]</div> <div>[[Image:cvs.png|right|400px|Image-based estimation of the critical view of safety in cholecystectomy|link=Learning, Modelling and Data Science]]</div> <div>[[Image:sperry.png|right|400px|Robotic needle insertion with finite element simulation in the control loop|link=Learning, Modelling and Data Science]]<div>[[Image:Im4_t3.jpg|right|300px|Climatology Drone|link=Complex Systems and Parsimony]]</div> <div>[[Image:Im6_t3.jpg|right|300px|Street Art Drone|link=Complex Systems and Parsimony]]</div> </div> </slideshow> </div> </div> a196c6886d0c986f1742d8aa3864012fe51937de 347 346 2022-10-19T12:52:42Z Bernard.bayle 5 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 1000px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. It emphasizes research recognized at the best international level, in particular in medical robotics and data science for health: * '''[[Medical Robotics and Interventional Imaging]]''' gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''[[Learning, Modelling and Data Science]]''' gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''[[Complex Systems and Parsimony|Complex systems and parsimony]]''' gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow transition="fade" refresh="2000" center="true"> <div>[[Image:Im1.jpg.jpg|right|400px|Caption 1|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:2022_rdh_porfolio.jpg|right|400px|Caption 2|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:2022_rdh_porfolio.jpg|right|400px|Caption 2|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, Modelling and Data Science]]</div> <div>[[Image:cvs.png|right|400px|Image-based estimation of the critical view of safety in cholecystectomy|link=Learning, Modelling and Data Science]]</div> <div>[[Image:sperry.png|right|400px|Robotic needle insertion with finite element simulation in the control loop|link=Learning, Modelling and Data Science]]</div> <div>[[Image:Im4_t3.jpg|right|300px|Climatology Drone|link=Complex Systems and Parsimony]]</div> <div>[[Image:Im6_t3.jpg|right|300px|Street Art Drone|link=Complex Systems and Parsimony]]</div> </slideshow> </div> </div> 5bacc59b64d9b4cd186f1bb11b14d10f55082e58 349 347 2022-10-19T12:54:52Z Bernard.bayle 5 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 1000px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. It emphasizes research recognized at the best international level, in particular in medical robotics and data science for health: * '''[[Medical Robotics and Interventional Imaging]]''' gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''[[Learning, Modelling and Data Science]]''' gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''[[Complex Systems and Parsimony|Complex systems and parsimony]]''' gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow transition="fade" refresh="2000" center="true"> <div>[[Image:2022_rdh_porfolio.jpg|right|400px|Caption 2|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:cemento.jpg|right|400px|Caption 1|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:ICube_AVR_IRM_authorLcuvillon_Credit_F.Maigrot_and_Ircad.jpg|right|400px|Caption 2|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, Modelling and Data Science]]</div> <div>[[Image:cvs.png|right|400px|Image-based estimation of the critical view of safety in cholecystectomy|link=Learning, Modelling and Data Science]]</div> <div>[[Image:sperry.png|right|400px|Robotic needle insertion with finite element simulation in the control loop|link=Learning, Modelling and Data Science]]</div> <div>[[Image:Im4_t3.jpg|right|300px|Climatology Drone|link=Complex Systems and Parsimony]]</div> <div>[[Image:Im6_t3.jpg|right|300px|Street Art Drone|link=Complex Systems and Parsimony]]</div> </slideshow> </div> </div> 8bdda2f6695c653d90a946daeae3ae4dbd890cd4 351 349 2022-10-19T12:58:30Z Bernard.bayle 5 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 1000px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. It emphasizes research recognized at the best international level, in particular in medical robotics and data science for health: * '''[[Medical Robotics and Interventional Imaging]]''' gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''[[Learning, Modelling and Data Science]]''' gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''[[Complex Systems and Parsimony|Complex systems and parsimony]]''' gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow transition="fade" refresh="2000" center="true"> <div>[[Image:2022_rdh_porfolio.jpg|right|400px|Caption 2|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:Cemento.jpg|right|400px|Caption 1|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:ICube_AVR_IRM_authorLcuvillon_Credit_F.Maigrot_and_Ircad.jpg|right|400px|Caption 2|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, Modelling and Data Science]]</div> <div>[[Image:cvs.png|right|400px|Image-based estimation of the critical view of safety in cholecystectomy|link=Learning, Modelling and Data Science]]</div> <div>[[Image:sperry.png|right|400px|Robotic needle insertion with finite element simulation in the control loop|link=Learning, Modelling and Data Science]]</div> <div>[[Image:Im4_t3.jpg|right|300px|Climatology Drone|link=Complex Systems and Parsimony]]</div> <div>[[Image:Im6_t3.jpg|right|300px|Street Art Drone|link=Complex Systems and Parsimony]]</div> </slideshow> </div> </div> be8e236758ab0380621f9294f06e404abd7fa17f 352 351 2022-10-19T12:59:18Z Bernard.bayle 5 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 1000px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. It emphasizes research recognized at the best international level, in particular in medical robotics and data science for health: * '''[[Medical Robotics and Interventional Imaging]]''' gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''[[Learning, Modelling and Data Science]]''' gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''[[Complex Systems and Parsimony|Complex systems and parsimony]]''' gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow transition="fade" refresh="2000" center="true"> <div>[[Image:2022_rdh_porfolio.jpg|right|400px|Caption 2|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:Cemento.jpg|right|700px|Caption 1|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:ICube_AVR_IRM_authorLcuvillon_Credit_F.Maigrot_and_Ircad.jpg|right|400px|Caption 2|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:Im3.jpg.jpg|right|400px|Caption 2|link=Learning, Modelling and Data Science]]</div> <div>[[Image:cvs.png|right|600px|Image-based estimation of the critical view of safety in cholecystectomy|link=Learning, Modelling and Data Science]]</div> <div>[[Image:sperry.png|right|400px|Robotic needle insertion with finite element simulation in the control loop|link=Learning, Modelling and Data Science]]</div> <div>[[Image:Im4_t3.jpg|right|300px|Climatology Drone|link=Complex Systems and Parsimony]]</div> <div>[[Image:Im6_t3.jpg|right|300px|Street Art Drone|link=Complex Systems and Parsimony]]</div> </slideshow> </div> </div> bbd49917c39527101be7155f7e2235162b52e8cd 353 352 2022-10-19T13:04:42Z Bernard.bayle 5 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 1000px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. It emphasizes research recognized at the best international level, in particular in medical robotics and data science for health: * '''[[Medical Robotics and Interventional Imaging]]''' gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''[[Learning, Modelling and Data Science]]''' gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''[[Complex Systems and Parsimony|Complex systems and parsimony]]''' gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow transition="fade" refresh="2000" center="true"> <div>[[Image:2022_rdh_porfolio.jpg|400px|Caption 2|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:Cemento.jpg|700px|Caption 1|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:ICube_AVR_IRM_authorLcuvillon_Credit_F.Maigrot_and_Ircad.jpg|400px|Caption 2|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:Im3.jpg.jpg|400px|Caption 2|link=Learning, Modelling and Data Science]]</div> <div>[[Image:cvs.png|400px|Image-based estimation of the critical view of safety in cholecystectomy|link=Learning, Modelling and Data Science]]</div> <div>[[Image:sperry.png|400px|Robotic needle insertion with finite element simulation in the control loop|link=Learning, Modelling and Data Science]]</div> <div>[[Image:Im4_t3.jpg|300px|Climatology Drone|link=Complex Systems and Parsimony]]</div> <div>[[Image:Im6_t3.jpg|300px|Street Art Drone|link=Complex Systems and Parsimony]]</div> </slideshow> </div> </div> c171cf26d12efe928e485aa4c0922ce2bdb03a11 0 48 309 298 2022-10-01T11:28:24Z Jacques.gangloff 11 /* Compliant Mechanisms */ wikitext text/x-wiki <blockquote> '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of Nonlinear Systems Defined by Algebro-differential Equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore unusable for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables (PhD of Rima Saadaoui). In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|400px|Finite element simulation result for a 2D positioning system]] <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/giuexe8vsrg</embedvideo> <br style="clear: both" /> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section [[Complex_Systems_and_Parsimony#Control_of_Nonlinear_Systems_Defined_by_Algebro-differential_Equations|Control of Nonlinear Systems Defined by Algebro-differential Equations]] above for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com dextAIR project] is to study a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] <!--Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre.--> Tracking and visual servoing with coded structured lighting. More specifically, embedded and lightweight systems are targeted. When these systems are articulated, the mechanical structure is very light and the precise guidance of movements is a challenge. When the environment in which these systems evolve exhibits variability (of luminosity, of texture), or even when no visual cue is perceptible by the sensor, artificial matrix markers embedding information redundancy are projected on the object of interest, with a device that is also embedded. Research problems related to real-time encoding/decoding of digital patterns, dynamic choice of visual cues to be projected, registration and automatic control are then studied in this framework. [[Image:Motif parf14.jpg|thumb|left|400px|So called "perfect" matrix and some associated patterns]] <br style="clear: both" /> === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] ecd880897420d7e516b430965019e33947ac2572 310 309 2022-10-01T11:29:17Z Jacques.gangloff 11 /* Compliant Mechanisms */ wikitext text/x-wiki <blockquote> '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of Nonlinear Systems Defined by Algebro-differential Equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore unusable for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables (PhD of Rima Saadaoui). In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|400px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/giuexe8vsrg</embedvideo> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section [[Complex_Systems_and_Parsimony#Control_of_Nonlinear_Systems_Defined_by_Algebro-differential_Equations|Control of Nonlinear Systems Defined by Algebro-differential Equations]] above for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com dextAIR project] is to study a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] <!--Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre.--> Tracking and visual servoing with coded structured lighting. More specifically, embedded and lightweight systems are targeted. When these systems are articulated, the mechanical structure is very light and the precise guidance of movements is a challenge. When the environment in which these systems evolve exhibits variability (of luminosity, of texture), or even when no visual cue is perceptible by the sensor, artificial matrix markers embedding information redundancy are projected on the object of interest, with a device that is also embedded. Research problems related to real-time encoding/decoding of digital patterns, dynamic choice of visual cues to be projected, registration and automatic control are then studied in this framework. [[Image:Motif parf14.jpg|thumb|left|400px|So called "perfect" matrix and some associated patterns]] <br style="clear: both" /> === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] 5123cc3b51c9a35240cbd4458f786b3078f63e0d 311 310 2022-10-03T09:39:18Z Jacques.gangloff 11 wikitext text/x-wiki <blockquote> '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] </blockquote> The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of Nonlinear Systems Defined by Algebro-differential Equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore unusable for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables (PhD of Rima Saadaoui). In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|400px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/giuexe8vsrg</embedvideo> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section [[Complex_Systems_and_Parsimony#Control_of_Nonlinear_Systems_Defined_by_Algebro-differential_Equations|Control of Nonlinear Systems Defined by Algebro-differential Equations]] above for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com dextAIR project] is to study a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] <!--Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre.--> Tracking and visual servoing with coded structured lighting. More specifically, embedded and lightweight systems are targeted. When these systems are articulated, the mechanical structure is very light and the precise guidance of movements is a challenge. When the environment in which these systems evolve exhibits variability (of luminosity, of texture), or even when no visual cue is perceptible by the sensor, artificial matrix markers embedding information redundancy are projected on the object of interest, with a device that is also embedded. Research problems related to real-time encoding/decoding of digital patterns, dynamic choice of visual cues to be projected, registration and automatic control are then studied in this framework. [[Image:Motif parf14.jpg|thumb|left|400px|So called "perfect" matrix and some associated patterns]] <br style="clear: both" /> <!-- === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] --> b705de5dc07816623e9a1aa7cda293533786536c 312 311 2022-10-03T09:40:07Z Jacques.gangloff 11 wikitext text/x-wiki '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of Nonlinear Systems Defined by Algebro-differential Equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore unusable for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables (PhD of Rima Saadaoui). In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the LABEX CAMI, we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|400px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/giuexe8vsrg</embedvideo> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section [[Complex_Systems_and_Parsimony#Control_of_Nonlinear_Systems_Defined_by_Algebro-differential_Equations|Control of Nonlinear Systems Defined by Algebro-differential Equations]] above for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com dextAIR project] is to study a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] <!--Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre.--> Tracking and visual servoing with coded structured lighting. More specifically, embedded and lightweight systems are targeted. When these systems are articulated, the mechanical structure is very light and the precise guidance of movements is a challenge. When the environment in which these systems evolve exhibits variability (of luminosity, of texture), or even when no visual cue is perceptible by the sensor, artificial matrix markers embedding information redundancy are projected on the object of interest, with a device that is also embedded. Research problems related to real-time encoding/decoding of digital patterns, dynamic choice of visual cues to be projected, registration and automatic control are then studied in this framework. [[Image:Motif parf14.jpg|thumb|left|400px|So called "perfect" matrix and some associated patterns]] <br style="clear: both" /> <!-- === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] --> 383e57a90d0c54fe5bacb3cae6eaa7673615a99c 313 312 2022-10-03T12:01:16Z Jacques.gangloff 11 /* Parsimony */ wikitext text/x-wiki '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of Nonlinear Systems Defined by Algebro-differential Equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore unusable for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables (PhD of Rima Saadaoui). In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the [https://cami-labex.fr LABEX CAMI], we are currently developing in collaboration with the LIRMM an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|400px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/giuexe8vsrg</embedvideo> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section [[Complex_Systems_and_Parsimony#Control_of_Nonlinear_Systems_Defined_by_Algebro-differential_Equations|Control of Nonlinear Systems Defined by Algebro-differential Equations]] above for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com dextAIR project] is to study a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] <!--Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre.--> Tracking and visual servoing with coded structured lighting. More specifically, embedded and lightweight systems are targeted. When these systems are articulated, the mechanical structure is very light and the precise guidance of movements is a challenge. When the environment in which these systems evolve exhibits variability (of luminosity, of texture), or even when no visual cue is perceptible by the sensor, artificial matrix markers embedding information redundancy are projected on the object of interest, with a device that is also embedded. Research problems related to real-time encoding/decoding of digital patterns, dynamic choice of visual cues to be projected, registration and automatic control are then studied in this framework. [[Image:Motif parf14.jpg|thumb|left|400px|So called "perfect" matrix and some associated patterns]] <br style="clear: both" /> <!-- === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] --> d80a2b7d3d5190d826977ebe1340a7e69083a18d 314 313 2022-10-03T12:02:22Z Jacques.gangloff 11 /* Parsimony */ wikitext text/x-wiki '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of Nonlinear Systems Defined by Algebro-differential Equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore unusable for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables (PhD of Rima Saadaoui). In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the [https://cami-labex.fr LABEX CAMI], we are currently developing in collaboration with the [https://www.lirmm.fr/equipes/DEXTER/ LIRMM] an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|400px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/giuexe8vsrg</embedvideo> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section [[Complex_Systems_and_Parsimony#Control_of_Nonlinear_Systems_Defined_by_Algebro-differential_Equations|Control of Nonlinear Systems Defined by Algebro-differential Equations]] above for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com dextAIR project] is to study a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] <!--Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre.--> Tracking and visual servoing with coded structured lighting. More specifically, embedded and lightweight systems are targeted. When these systems are articulated, the mechanical structure is very light and the precise guidance of movements is a challenge. When the environment in which these systems evolve exhibits variability (of luminosity, of texture), or even when no visual cue is perceptible by the sensor, artificial matrix markers embedding information redundancy are projected on the object of interest, with a device that is also embedded. Research problems related to real-time encoding/decoding of digital patterns, dynamic choice of visual cues to be projected, registration and automatic control are then studied in this framework. [[Image:Motif parf14.jpg|thumb|left|400px|So called "perfect" matrix and some associated patterns]] <br style="clear: both" /> <!-- === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] --> 1646219fa87c12873fd4e4b8a6baaa0c26812f8b 315 314 2022-10-03T12:07:45Z Jacques.gangloff 11 /* Event-Based Control */ wikitext text/x-wiki '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of Nonlinear Systems Defined by Algebro-differential Equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore unusable for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables (PhD of Rima Saadaoui). In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the [https://cami-labex.fr LABEX CAMI], we are currently developing in collaboration with the [https://www.lirmm.fr/equipes/DEXTER/ LIRMM] an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|400px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/giuexe8vsrg</embedvideo> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section [[Complex_Systems_and_Parsimony#Control_of_Nonlinear_Systems_Defined_by_Algebro-differential_Equations|Control of Nonlinear Systems Defined by Algebro-differential Equations]] above for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com dextAIR project] is to study a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] <!--Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre.--> Tracking and visual servoing with coded structured lighting. More specifically, embedded and lightweight systems are targeted. When these systems are articulated, the mechanical structure is very light and the precise guidance of movements is a challenge. When the environment in which these systems evolve exhibits variability (of luminosity, of texture), or even when no visual cue is perceptible by the sensor, artificial matrix markers embedding information redundancy are projected on the object of interest, with a device that is also embedded. Research problems related to real-time encoding/decoding of digital patterns, dynamic choice of visual cues to be projected, registration and automatic control are then studied in this framework. [[Image:Motif parf14.jpg|thumb|left|400px|So called "perfect" matrix and some associated patterns]] <br style="clear: both" /> <!-- === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] --> c5366957515cfef5fc93aa8ea96c504c76b6615b 316 315 2022-10-04T07:38:31Z Laroche 8 /* Control of Nonlinear Systems Defined by Algebro-differential Equations */ wikitext text/x-wiki '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of Nonlinear Systems Defined by Algebro-differential Equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] <!--The laws of Physics naturally appear as differential and algebraic (i.e. without any differential) equations, leading to so called DAE models. For controller design, the usual way is to first reduce the algebraic equations in order to get a minimal-order model composed of ordinary differential equations (ODE). However, this step has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore to the use of some methods for complex systems. * The reduction step might be difficult to make (if not impossible) in a nonlinear context. Moreover, a number of results are available in Control for analysis and controller design for descriptor models, i.e. linear DAE models. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables.--> The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore unusable for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables (PhD of Rima Saadaoui). <iframe src="https://podv2.unistra.fr/video/48518-mtu-2022-2023/?is_iframe=true" width="640" height="360" style="padding: 0; margin: 0; border:0" allowfullscreen ></iframe> In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the [https://cami-labex.fr LABEX CAMI], we are currently developing in collaboration with the [https://www.lirmm.fr/equipes/DEXTER/ LIRMM] an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|400px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/giuexe8vsrg</embedvideo> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section [[Complex_Systems_and_Parsimony#Control_of_Nonlinear_Systems_Defined_by_Algebro-differential_Equations|Control of Nonlinear Systems Defined by Algebro-differential Equations]] above for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com dextAIR project] is to study a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] <!--Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre.--> Tracking and visual servoing with coded structured lighting. More specifically, embedded and lightweight systems are targeted. When these systems are articulated, the mechanical structure is very light and the precise guidance of movements is a challenge. When the environment in which these systems evolve exhibits variability (of luminosity, of texture), or even when no visual cue is perceptible by the sensor, artificial matrix markers embedding information redundancy are projected on the object of interest, with a device that is also embedded. Research problems related to real-time encoding/decoding of digital patterns, dynamic choice of visual cues to be projected, registration and automatic control are then studied in this framework. [[Image:Motif parf14.jpg|thumb|left|400px|So called "perfect" matrix and some associated patterns]] <br style="clear: both" /> <!-- === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] --> 5cb01c770a664f99fb0e0527b734b4251d29c555 317 316 2022-10-04T07:42:07Z Laroche 8 /* Control of Nonlinear Systems Defined by Algebro-differential Equations */ wikitext text/x-wiki '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of Nonlinear Systems Defined by Algebro-differential Equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore unusable for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables (PhD of Rima Saadaoui). <iframe src="https://podv2.unistra.fr/video/48518-mtu-2022-2023/?is_iframe=true" width="640" height="360" style="padding: 0; margin: 0; border:0" allowfullscreen ></iframe> In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the [https://cami-labex.fr LABEX CAMI], we are currently developing in collaboration with the [https://www.lirmm.fr/equipes/DEXTER/ LIRMM] an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|400px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/giuexe8vsrg</embedvideo> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section [[Complex_Systems_and_Parsimony#Control_of_Nonlinear_Systems_Defined_by_Algebro-differential_Equations|Control of Nonlinear Systems Defined by Algebro-differential Equations]] above for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com dextAIR project] is to study a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] <!--Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre.--> Tracking and visual servoing with coded structured lighting. More specifically, embedded and lightweight systems are targeted. When these systems are articulated, the mechanical structure is very light and the precise guidance of movements is a challenge. When the environment in which these systems evolve exhibits variability (of luminosity, of texture), or even when no visual cue is perceptible by the sensor, artificial matrix markers embedding information redundancy are projected on the object of interest, with a device that is also embedded. Research problems related to real-time encoding/decoding of digital patterns, dynamic choice of visual cues to be projected, registration and automatic control are then studied in this framework. [[Image:Motif parf14.jpg|thumb|left|400px|So called "perfect" matrix and some associated patterns]] <br style="clear: both" /> <!-- === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] --> 7c6f8524f94f90b8c66e80df2a9744b19688fd09 318 317 2022-10-04T10:46:28Z Rsaadaoui 22 /* Control of Nonlinear Systems Defined by Algebro-differential Equations */ wikitext text/x-wiki '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of Nonlinear Systems Defined by Algebro-differential Equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore unusable for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables (PhD of Rima Saadaoui). <iframe key="pod" path="https://podv2.unistra.fr/video/49016-h-control-of-a-planar-3-dof-flexible-cable-manipulator/4e2ddd9b0d88ec91431f838b6f8811f0797ec7d8e738f0733028156f2b531bde//?is_iframe=true" height="180" width="320" /> In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the [https://cami-labex.fr LABEX CAMI], we are currently developing in collaboration with the [https://www.lirmm.fr/equipes/DEXTER/ LIRMM] an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|400px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/giuexe8vsrg</embedvideo> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section [[Complex_Systems_and_Parsimony#Control_of_Nonlinear_Systems_Defined_by_Algebro-differential_Equations|Control of Nonlinear Systems Defined by Algebro-differential Equations]] above for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com dextAIR project] is to study a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] <!--Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre.--> Tracking and visual servoing with coded structured lighting. More specifically, embedded and lightweight systems are targeted. When these systems are articulated, the mechanical structure is very light and the precise guidance of movements is a challenge. When the environment in which these systems evolve exhibits variability (of luminosity, of texture), or even when no visual cue is perceptible by the sensor, artificial matrix markers embedding information redundancy are projected on the object of interest, with a device that is also embedded. Research problems related to real-time encoding/decoding of digital patterns, dynamic choice of visual cues to be projected, registration and automatic control are then studied in this framework. [[Image:Motif parf14.jpg|thumb|left|400px|So called "perfect" matrix and some associated patterns]] <br style="clear: both" /> <!-- === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] --> 01a0fad06a85cc6afdedb1ef0ed1c99522587718 319 318 2022-10-04T10:49:03Z Rsaadaoui 22 /* Control of Nonlinear Systems Defined by Algebro-differential Equations */ wikitext text/x-wiki '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of Nonlinear Systems Defined by Algebro-differential Equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore unusable for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables (PhD of Rima Saadaoui). <iframe key="pod" path="https://podv2.unistra.fr/video/49016-h-control-of-a-planar-3-dof-flexible-cable-manipulator/4e2ddd9b0d88ec91431f838b6f8811f0797ec7d8e738f0733028156f2b531bde///?is_iframe=true" height="180" width="320" /> In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the [https://cami-labex.fr LABEX CAMI], we are currently developing in collaboration with the [https://www.lirmm.fr/equipes/DEXTER/ LIRMM] an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|400px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/giuexe8vsrg</embedvideo> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section [[Complex_Systems_and_Parsimony#Control_of_Nonlinear_Systems_Defined_by_Algebro-differential_Equations|Control of Nonlinear Systems Defined by Algebro-differential Equations]] above for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com dextAIR project] is to study a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] <!--Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre.--> Tracking and visual servoing with coded structured lighting. More specifically, embedded and lightweight systems are targeted. When these systems are articulated, the mechanical structure is very light and the precise guidance of movements is a challenge. When the environment in which these systems evolve exhibits variability (of luminosity, of texture), or even when no visual cue is perceptible by the sensor, artificial matrix markers embedding information redundancy are projected on the object of interest, with a device that is also embedded. Research problems related to real-time encoding/decoding of digital patterns, dynamic choice of visual cues to be projected, registration and automatic control are then studied in this framework. [[Image:Motif parf14.jpg|thumb|left|400px|So called "perfect" matrix and some associated patterns]] <br style="clear: both" /> <!-- === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] --> c5b4af436332f71a88893c19bc4a7b8a87262850 324 319 2022-10-04T13:48:20Z Rsaadaoui 22 /* Control of Nonlinear Systems Defined by Algebro-differential Equations */ wikitext text/x-wiki '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of Nonlinear Systems Defined by Algebro-differential Equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore unusable for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables (PhD of Rima Saadaoui). <iframe key="pod" path="https://podv2.unistra.fr/video/49016-h-control-of-a-planar-3-dof-flexible-cable-manipulator/4e2ddd9b0d88ec91431f838b6f8811f0797ec7d8e738f0733028156f2b531bde///?is_iframe=true" height="180" width="320" /> <iframe key="pod" path="https://podv2.unistra.fr/video/49020-h-synthesis-for-a-planar-flexible-cable-driven-robot/541f39d3ac38e8b9c317e13fb9d4406c920e1577877b3782384c7094abcfeb5d////?is_iframe=true" height="180" width="320" /> In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the [https://cami-labex.fr LABEX CAMI], we are currently developing in collaboration with the [https://www.lirmm.fr/equipes/DEXTER/ LIRMM] an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|400px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/giuexe8vsrg</embedvideo> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section [[Complex_Systems_and_Parsimony#Control_of_Nonlinear_Systems_Defined_by_Algebro-differential_Equations|Control of Nonlinear Systems Defined by Algebro-differential Equations]] above for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com dextAIR project] is to study a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] <!--Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre.--> Tracking and visual servoing with coded structured lighting. More specifically, embedded and lightweight systems are targeted. When these systems are articulated, the mechanical structure is very light and the precise guidance of movements is a challenge. When the environment in which these systems evolve exhibits variability (of luminosity, of texture), or even when no visual cue is perceptible by the sensor, artificial matrix markers embedding information redundancy are projected on the object of interest, with a device that is also embedded. Research problems related to real-time encoding/decoding of digital patterns, dynamic choice of visual cues to be projected, registration and automatic control are then studied in this framework. [[Image:Motif parf14.jpg|thumb|left|400px|So called "perfect" matrix and some associated patterns]] <br style="clear: both" /> <!-- === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] --> 072e7f6a152b3f024d0d12c651896e138829411b 325 324 2022-10-04T13:48:39Z Rsaadaoui 22 /* Control of Nonlinear Systems Defined by Algebro-differential Equations */ wikitext text/x-wiki '''Theme Leaders''' [[Page personnelle de Jacques Gangloff|Jacques Gangloff]], [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] The minimization of the ecological footprint of complex systems is the common denominator of this theme. Frugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems. == Complex Systems == === Event-Based Control === Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Although periodicity simplifies the analysis in control theory, it results in conservative resource utilization because the control signal is computed, transmitted, and updated at the same rate, regardless of whether it is required or not. In contrast, the so-called "event-driven" paradigm exploits resources whenever they are truly needed. In such a novel framework, control updates are performed based on a triggering condition (e.g., when the dynamics of the controlled system or its environment change), resulting in sampling intervals that are no longer equidistant in time. The number of sampling instants can then be considerably reduced (compared to the periodic scheme) and, consequently, the computational usage and the network bandwidth. For all these reasons, event-triggered approaches offer opportunities for embedded cyber-physical systems with limited resources. A new event-based control architecture was developed in the [https://anr.fr/Projet-ANR-17-CE33-0008 e-VISER ANR project] context, with a complete event-driven sensorimotor chain from perception to actuation. Also, event-triggered control is investigated in the [https://anr.fr/Projet-ANR-20-CE33-0009 dark-NAV ANR project] in the aim to develop new navigation strategies for UAVs in GPS-denied dark environment using aperiodic flash-based photolocation. === Control of Cobots === Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] We are interested in developing new methodologies for the control of collaborative robots (cobots) and the physical human-robot interaction. Our main focus is on using optimization-based methods, such as Model Predictive Control (MPC), which permits to impose a desired compliant behavior of the robot while respecting a set of safety constraints. We are also interested in integrating biosignals (electromyography) into the robot control strategy. This allows to obtain information about the human operator intentions and enhance the physical human–robot interaction dynamics. <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=r61woomVOq4</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://www.youtube.com/watch?v=CILd6ngv6xM</embedvideo> Other topics in collaboration with CEA-LIST are: * design of synthesis schemes for robust control of cobots, maximizing the transparency perceived by the operator (PhD of Neil Abroug) * design of optimal excitation signals for identification of cobots that enable to finely identify the low-frequency flexible modes to be accounted for in the control scheme (also with LIAS, U. Poitiers) (PhD of Bassem Boukhebouz) === Control of Nonlinear Systems Defined by Algebro-differential Equations === Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] Iuliana Bara, [mailto:bara.iuliana@unistra.fr bara.iuliana@unistra.fr] Hassan Omran, [mailto:homran@unistra.fr homran@unistra.fr] Olivier Piccin, [mailto:Olivier.Piccin@insa-strasbourg.fr Olivier.Piccin@insa-strasbourg.fr] The laws of Physics naturally appear as differential and algebraic (i.e. without any differential term) equations, leading to so called DAE models. For control design purposes, the classical approach consists in firstly reducing the algebraic equations in order to obtain a minimal-order model composed of ordinary differential equations (ODE) and then, a controller is synthesized based on this ODE model. The first step of this approach has two drawbacks: * It increases the complexity of the parameter dependence, and is therefore unusable for complex systems. * The reduction step may be difficult to deal with (or even impossible) in a nonlinear context. Although a number of results are available in Control Theory for the analysis and the control design for linear DAE models, also called linear descriptor models, there is still a lot of work to be done in the case of complex descriptor systems. Our research activities aim at developing methodologies for simulation, analysis and controller synthesis based on DAE models and exploit them for the control of complex systems. Our current activities consider, as application domain, planar cable-driven parallel robots that naturally exhibit algebraic equations coming from the mechanical closed-loop chains composed by the platform and the cables (PhD of Rima Saadaoui). <iframe key="pod" path="https://podv2.unistra.fr/video/49016-h-control-of-a-planar-3-dof-flexible-cable-manipulator/4e2ddd9b0d88ec91431f838b6f8811f0797ec7d8e738f0733028156f2b531bde///?is_iframe=true" height="180" width="320" /> <iframe key="pod" path="https://podv2.unistra.fr/video/49020-h-synthesis-for-a-planar-flexible-cable-driven-robot/541f39d3ac38e8b9c317e13fb9d4406c920e1577877b3782384c7094abcfeb5d////?is_iframe=true" height="180" width="320" /> In addition to developing methodologies for practical applications, our activities seek for new theoretical analysis/design results based on less restrictive approaches (non quadratic Lyapunov functions, PhD of Ana Dos Santos). == Parsimony == === Compliant Mechanisms === Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr, lennart.rubbert@insa-strasbourg.fr] <!--Marc Vedrines, [mailto:marc.vedrines@insa-strasbourg.fr, marc.vedrines@insa-strasbourg.fr]--> Compliant mechanisms have many advantages thanks to their monolithic design. Indeed, they do not present any play, friction, wear or tear which makes them good candidates for realizations without assembly, easily printable, miniaturisable and with long life. Compliant mechanisms are therefore perfect candidates to be integrated in mechatronic devices where simplicity, control of the behavior and long life are sought. The emblematic applications of compliant mechanisms are precision mechanics, micro-mechanics and MEMS for the miniaturization capabilities, the medical field for the monolithic character and thus easily sterilisable, and the space field for the control of the mechanical behavior and the long lifetime without need for maintenance. In the framework of Benjamin Calmé's PhD work, financed by the [https://cami-labex.fr LABEX CAMI], we are currently developing in collaboration with the [https://www.lirmm.fr/equipes/DEXTER/ LIRMM] an XY platform printed with active polymers. This XY positioning platform allows us to consider solutions without assembly, whose thermo-mechanical behavior is mastered, with a long life span while being economical in terms of resources and production costs. [[Image:mesoscopic_XY_FEA.png|thumb|left|400px|Finite element simulation result for a 2D positioning system]] <br style="clear: both" /> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/giuexe8vsrg</embedvideo> === Cable-Driven Parallel Robotics === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Edouard Laroche, [mailto:laroche@unistra.fr laroche@unistra.fr] One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/tN5UPqr268o</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/VochlxFeyqk</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/Kzf4Lobo8u0</embedvideo> Cable-driven manipulators are also considered as a challenging benchmark for control methodologies as they include several complexity sources: multivariable, non-linear with flexible modes and algebraic equations. See the section [[Complex_Systems_and_Parsimony#Control_of_Nonlinear_Systems_Defined_by_Algebro-differential_Equations|Control of Nonlinear Systems Defined by Algebro-differential Equations]] above for details. === Aerial Manipulation === Jacques Gangloff, [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] Loïc Cuvillon, [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] Sylvain Durand, [mailto:sdurand@unistra.fr sdurand@unistra.fr] Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] The goal of the [https://www.dextair.com dextAIR project] is to study a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project]. The goal of the [https://strad.dextair.com STRAD ANR project] is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the [https://anr.fr/Projet-ANR-21-CE22-0021 ANR TIR4sTREEt project], the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors. <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6a4gE4A6bLU</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/DPVq50Pw3yg</embedvideo> <embedvideo service="youtube" dimensions="300" alignment="inline">https://youtu.be/6uM97otbP7c</embedvideo> === Active Markers === Christophe Doignon, [mailto:c.doignon@unistra.fr c.doignon@unistra.fr] <!--Suivi et asservissement visuels à l'aide de la lumière structurée codée (''Tracking and visual servoing with coded structured lighting''). Sont plus spécifiquement ciblés, les systèmes embarqués (''embedded systems'') et légers. Quand ces systèmes sont articulés, la structure mécanique est très légère et le guidage précis des déplacements est un défi (''challenge''). Quant l'environnement dans lequel évolue ces systèmes exhibe des variabilités (de luminosité, de texture), voire qu'aucun indice visuel est perceptible par le capteur, des marqueurs artificiels matriciels embarquant de la redondance d'information sont projetés sur l'objet d'intérêt, avec un dispositif lui aussi embarqué. Des problématiques de recherche relevant du codage/décodage en temps réel de motifs numériques, du choix dynamique des indices visuels à projeter, du recalage et de la commande automatique sont alors étudiées dans ce cadre.--> Tracking and visual servoing with coded structured lighting. More specifically, embedded and lightweight systems are targeted. When these systems are articulated, the mechanical structure is very light and the precise guidance of movements is a challenge. When the environment in which these systems evolve exhibits variability (of luminosity, of texture), or even when no visual cue is perceptible by the sensor, artificial matrix markers embedding information redundancy are projected on the object of interest, with a device that is also embedded. Research problems related to real-time encoding/decoding of digital patterns, dynamic choice of visual cues to be projected, registration and automatic control are then studied in this framework. [[Image:Motif parf14.jpg|thumb|left|400px|So called "perfect" matrix and some associated patterns]] <br style="clear: both" /> <!-- === Knowledge/Vision Interaction === Adlane Habed, [mailto:habed@unistra.fr habed@unistra.fr] --> 0f7c881a4043765601c0d781b300101ded1e1049 0 64 320 2022-10-04T12:14:49Z Laroche 8 Created page with "[[Image:Edouard2019z2.jpeg|right|150px]] '''Professeur des Universités en automatique (section CNU 61)''' Thématiques : commande robuste, modélisation et identification,..." wikitext text/x-wiki [[Image:Edouard2019z2.jpeg|right|150px]] '''Professeur des Universités en automatique (section CNU 61)''' Thématiques : commande robuste, modélisation et identification, commande des robots, systèmes flexibles, commande des systèmes électriques [[File:Flag_en.png]] [http://newlsiit.u-strasbg.fr/avr_en/index.php/Edouard_Laroche English version] =Contact= ICube - AVR<br /> Bd S. Brant, BP 10413, F-67412 Illkirch cedex<br /> Tel: +33 3 68 85 44 68 <br /> [mailto:laroche@unistra.fr laroche@unistra.fr]<br /> [[Sujets_de_stages|Stages proposés]]<br /> [[Sujets_de_thèses|Sujets de thèse de doctorat proposés]] =Parcours= *Né en 1971 à Paris. *Ingénieur de l'[https://ensem.univ-lorraine.fr École Nationale Supérieure d'Électricité et de Mécanique de Nancy] et titulaire du DEA PROTEE en 1994<br /> *Ancien élève de l'[https://ens-paris-saclay.fr ENS de Cachan/Paris Saclay], Agrégé de génie électrique en 1995, titulaire du DEA de didactique des sciences et techniques (1996)<br /> *Docteur de l'ENS de Cachan (2000). Titre de la [http://www.theses.fr/2000DENS0012 thèse] : ''Méthodologies multimodèles pour l’identification et la commande robuste de la machine asynchrone'' dirigée par [http://www.satie.ens-cachan.fr/version-francaise/les-membres/chercheurs-et-enseignants-chercheurs/chercheurs-pole-siame/abou-kandil-hisham-214839.kjsp?RH=1371131439750 H. Abou-Kandil] et J.P. Louis. <br /> *Maître de conférences à l'Université Louis Pasteur de Strasbourg de 2000 à 2008 <br /> *Habilité à dirigé des recherches en 2007. Titre de l'HDR : [http://eavr.u-strasbg.fr/~laroche/hdr/HDR-EL.pdf ''Identification et Commande Robuste de Systèmes Electromécaniques'' ]. Garant: [[Michel de Mathelin personal web page|M. de Mathelin]], rapporteurs: [http://www.cran.univ-lorraine.fr/detailindividupublic.php?appel=annuaire&codetheme=&codeindividu=00186&codelangue=FR A. Richard], [http://homepages.laas.fr/arzelier/ D. Arzelier] et [https://www.researchgate.net/profile/Said_Ahzi S. Ahzi] <br /> *Professeur des Universités à l'[http://www.unistra.fr/ Université de Strasbourg] depuis 2008 <br /> =Responsabilités= == Actuelles == * Chargé de mission Qualité de formations auprès de la vice-présidente Formation et parcours de réussite depuis 2021 * Directeur adjoint de la [http://www.physique-ingenierie.unistra.fr Faculté de physique et ingénierie] depuis 2016 * Référent "[https://evaluation-formation.unistra.fr qualité des formations]" de la faculté de physique et ingénierie depuis 2012 * Membre élu du conseil du laboratoire ICube * Responsable du développement d'un module pour le [https://www.unisciel.fr/2021/04/15/presentation-du-projet-hilisit/ projet HILISIT] == Antérieures == * Organisation de conférences: ** [https://cdc2019.ieeecss.org CDC 2019] (1600 participants) : responsable de l'organisation locale ** [http://www.ifac2017.org/ IFAC World Congress 2017] (3000 participants) : responsable des inscriptions (avec [http://www.supelec.fr/360_p_10005/sorin-olaru.html Sorin Olaru] de Centrale-Supélec) ** [http://www.ecc14.eu/ ECC'14] (European Control Conférence, 600 participants) : responsable de l'organisation locale ** [https://jdjnmacs2013.sciencesconf.org/ JD-JN MACS 2013] (Journées doctorales et Nationales du GDR MACS) : responsable de l'organisation locale * Animateur du [[w3.onera.fr/mosar/|Groupe de Travail "Méthodes et Outils pour la Synthèse et l'Analyse en Robustesse"]] du [http://www.univ-valenciennes.fr/gdr-macs/node/4407 GDR MACS (Groupement de Recherche "Modélisation, Analyse et Conduite des Systèmes")] de 2007 à 2014 * Responsable de la licence professionnelle "Qualité et Maîtrise de l'Énergie Électrique" de 2004 à 2024 =Activité d'enseignements= Mes ressources pégagogiques sont disponibles sur la [https://moodle3.unistra.fr/ plateforme Moodle] (accès restreint) et sur http://eavr.u-strasbg.fr/~laroche/student/ (non maintenu). == [http://www.physique-ingenierie.unistra.fr/ Faculté de Physique et Ingénierie] == * [http://www.physique-ingenierie.unistra.fr/spip.php?article7 Licence Physique et Sciences pour l'Ingénieur] ** [https://moodle3.unistra.fr/course/view.php?id=1918 Méthodologies du travail universitaire] (responsable de l'UE) ** [https://moodle3.unistra.fr/course/view.php?id=1929 Projet Personnel et Professionnel] ** [https://moodle3.unistra.fr/course/view.php?id=9463 Automatique] (co-responsable de l'UE) * [http://www.physique-ingenierie.unistra.fr/spip.php?article10 Licence Professionnelle Efficacité Énergétique] ** Méthodologies du travail ** [https://moodle3.unistra.fr/course/view.php?id=2754 Préparation et valorisation de l'apprentissage] * [http://www.physique-ingenierie.unistra.fr/spip.php?rubrique21 Master PAIP] ** [http://www.physique-ingenierie.unistra.fr/spip.php?article103 Spécialité Mécatronique et Énergie] *** Gestion de l'Énergie *** [https://moodle3.unistra.fr/course/view.php?id=1933 Conversion électro-mécanique] *** [https://moodle3.unistra.fr/course/view.php?id=1932 Capteurs Industriels] * Master GI, PAIP et SGM ** [https://moodle3.unistra.fr/course/view.php?id=2765 Valorisation de stage] == [http://www.telecom-physique.fr/ Télécom-Physique-Strasbourg] == * [http://fip2i-alsace.u-strasbg.fr/ FIP] 1a : [https://moodle3.unistra.fr/course/view.php?id=1927 Automatique continue] * TPS 2a : [[Ingénierie durable]] * TPS 3a & [http://master-iriv.u-strasbg.fr/index.php Master IRIV] [http://master-iriv.u-strasbg.fr/index.php/Parcours_AR parcours Automatique et Robotique] ** [https://docs.google.com/document/d/1gb7l31QD8xR85JuKdDi5Qa_bGg_lj3Tqo9ggBN5yY50/pub Commande robuste] (assuré par I.G. Bara depuis 2018) ** [https://docs.google.com/document/d/1fvn9BTqcZZOIPOZaz7QYWmRdz1AoKsTr42ylOJx0v7w/pub Technologie des asservissements] == [https://www.unistra.fr/index.php?id=27885&tx_unistrarof_pi1%5Brof-program%5D=ME287&cHash=c3f37b922fa8d67f86a42207f338fb8b Licence Sciences pour la santé] == * [https://moodle3.unistra.fr/course/view.php?id=13930 Méthodologies du travail universitaire] (responsable de l'UE) =Activités de recherche= ==Commande robuste des robots flexibles== * Problématique développée depuis 2002 <br/> * Collaboration avec [http://www.lias-lab.fr/perso/guillaumemercere/ G. Mercère] (LIAS, Poitiers), [http://www.unilim.fr/pages_perso/olivier.prot/index.html O. Prot] (XLim, Limoges). Collègues associés : [http://eavr.u-strasbg.fr/~bara I. Bara], [[Page personnelle de Loic Cuvillon|L. Cuvillon]] et [[Page personnelle de Jacques Gangloff|J. Gangloff]] <br/> ===Problématiques=== * Modélisation et identification de modèles LPV (linéaires à paramètres variants) des manipulateurs séries présentant des flexibilités ** [http://icube-avr.unistra.fr/en/index.php/Identification_benchmark Benchmark sur l'identification d'un bras robotique avec mesure par vision (en anglais)] * Commande robuste permettant de garantir les performances sur un espace de travail * Identification et commande des robots parallèles à câbles ===Financements=== * Projet [https://hypnovr.icube.unistra.fr/index.php/Le_projet HypnoVR 2017] financé par la Région Grand-Est et le FEDER * Projet CNRS [http://newlsiit.u-strasbg.fr/idrac/index.php/Accueil PEPS IDRAC] (2010-2011) * Preciput-ANR de l'ULP (2009) ==Projets passés== * Commande de dispositifs de stabilisation actifs pour la chirurgie à coeur battant (Cardiolock et Gyrolock, 2005-2012) * Asservissement visuel pour la robotique médicale (collaboration avec l'université de Tohoku soutenue par le CNRS et le JST) [https://lsiit-cnrs.unistra.fr/sendai-strasbourg/] (2007-2012) * Commande des systèmes d'enroulement de bandes flexibles (2000-2002) * Identification et commande des machines asynchrones (moteurs électriques à induction) ==Outils développés== * [http://eavr.u-strasbg.fr/~laroche/flexrob/ Modèle d'un bras manipulateur flexible] réalisé sous Maple avec DynaFlex * [http://eavr.u-strasbg.fr/~laroche/camera/ Modèles de la mesure de position par caméra] tenant compte des effets dynamiques * [[Planar cable robot with non straight cables]] =Publications= * [https://icube-publis.unistra.fr/?author=Laroche&team=8+23#hideMenu Publications scientifiques] * Pédagogie universitaire ** E. Laroche, ''Accompagner les étudiants dans le développement de leurs méthodes de travail - l’expérience de la Licence Sciences pour la Santé de Strasbourg'', [https://sfar.org/evenement/sfar-le-congres-2021/ SFAR le congrès], septembre 2021 ** E. Laroche, ''Une expérience d'utilisation d'un tutoriel en ligne pour étoffer son enseignement'', [https://rpn.sciencesconf.org Colloque ''Enseigner et apprendre à l'université avec les ressources pédagogiques numériques''], Strasbourg, 24-25 Nov. 2020 ** E. Laroche, C. Sauter, ''Comment la mise en place d’un enseignement transversal a contribué à l’évolution de la posture d’un enseignant'', [https://idip.unistra.fr/wp-content/uploads/2019/12/Cahiers-de-lIdip-HS-AIPU-2019.pdf Actes des Journées AIPU France], p. 100-105, 2019 ** E. Laroche, ''[https://seafile.unistra.fr/f/4eb3d160fe244f869db5/ Refonte des MTU à la faculté de physique et ingénierie]'', J'IDIP, 2018 ** E. Laroche, S. Zingaretti, S. Vonie, ''Classe renversée et évaluation par les pairs : un retour d’expérience'', [https://drive.google.com/file/d/0B9il8y4PowIDZWFybjU4V2VqMG8/view Actes du 29ème Congrès de l'AIPU], p. 26-27, Lausanne, 6-9 juin 2016 =Autres pages= * [http://www.physique-ingenierie.unistra.fr/spip.php?article71 Ma page sur le site de la Faculté de physique et ingénierie] * [http://scholar.google.com/citations?user=sLoa3QMAAAAJ&hl=fr Google scholar] * [http://orcid.org/0000-0002-0607-6861 ORCID] * [https://www.researchgate.net/profile/Edouard_Laroche Research gate] * [https://www.linkedin.com/profile/view?id=62536172 LinkedIn] * [http://www.viadeo.com/profile/0021oyh4dv6ed6r3 Viadeo] * [http://www.theses.fr/168812339 theses.fr] 8772de5dfe42686f3bd3230638e4eec2c1b95615 321 320 2022-10-04T12:15:21Z Laroche 8 wikitext text/x-wiki [[Image:Edouard2019z2.jpeg|right|150px]] '''Professeur des Universités en automatique (section CNU 61)''' Thématiques : commande robuste, modélisation et identification, commande des robots, systèmes flexibles, commande des systèmes électriques =Contact= ICube - AVR<br /> Bd S. Brant, BP 10413, F-67412 Illkirch cedex<br /> Tel: +33 3 68 85 44 68 <br /> [mailto:laroche@unistra.fr laroche@unistra.fr]<br /> [[Sujets_de_stages|Stages proposés]]<br /> [[Sujets_de_thèses|Sujets de thèse de doctorat proposés]] =Parcours= *Né en 1971 à Paris. *Ingénieur de l'[https://ensem.univ-lorraine.fr École Nationale Supérieure d'Électricité et de Mécanique de Nancy] et titulaire du DEA PROTEE en 1994<br /> *Ancien élève de l'[https://ens-paris-saclay.fr ENS de Cachan/Paris Saclay], Agrégé de génie électrique en 1995, titulaire du DEA de didactique des sciences et techniques (1996)<br /> *Docteur de l'ENS de Cachan (2000). Titre de la [http://www.theses.fr/2000DENS0012 thèse] : ''Méthodologies multimodèles pour l’identification et la commande robuste de la machine asynchrone'' dirigée par [http://www.satie.ens-cachan.fr/version-francaise/les-membres/chercheurs-et-enseignants-chercheurs/chercheurs-pole-siame/abou-kandil-hisham-214839.kjsp?RH=1371131439750 H. Abou-Kandil] et J.P. Louis. <br /> *Maître de conférences à l'Université Louis Pasteur de Strasbourg de 2000 à 2008 <br /> *Habilité à dirigé des recherches en 2007. Titre de l'HDR : [http://eavr.u-strasbg.fr/~laroche/hdr/HDR-EL.pdf ''Identification et Commande Robuste de Systèmes Electromécaniques'' ]. Garant: [[Michel de Mathelin personal web page|M. de Mathelin]], rapporteurs: [http://www.cran.univ-lorraine.fr/detailindividupublic.php?appel=annuaire&codetheme=&codeindividu=00186&codelangue=FR A. Richard], [http://homepages.laas.fr/arzelier/ D. Arzelier] et [https://www.researchgate.net/profile/Said_Ahzi S. Ahzi] <br /> *Professeur des Universités à l'[http://www.unistra.fr/ Université de Strasbourg] depuis 2008 <br /> =Responsabilités= == Actuelles == * Chargé de mission Qualité de formations auprès de la vice-présidente Formation et parcours de réussite depuis 2021 * Directeur adjoint de la [http://www.physique-ingenierie.unistra.fr Faculté de physique et ingénierie] depuis 2016 * Référent "[https://evaluation-formation.unistra.fr qualité des formations]" de la faculté de physique et ingénierie depuis 2012 * Membre élu du conseil du laboratoire ICube * Responsable du développement d'un module pour le [https://www.unisciel.fr/2021/04/15/presentation-du-projet-hilisit/ projet HILISIT] == Antérieures == * Organisation de conférences: ** [https://cdc2019.ieeecss.org CDC 2019] (1600 participants) : responsable de l'organisation locale ** [http://www.ifac2017.org/ IFAC World Congress 2017] (3000 participants) : responsable des inscriptions (avec [http://www.supelec.fr/360_p_10005/sorin-olaru.html Sorin Olaru] de Centrale-Supélec) ** [http://www.ecc14.eu/ ECC'14] (European Control Conférence, 600 participants) : responsable de l'organisation locale ** [https://jdjnmacs2013.sciencesconf.org/ JD-JN MACS 2013] (Journées doctorales et Nationales du GDR MACS) : responsable de l'organisation locale * Animateur du [[w3.onera.fr/mosar/|Groupe de Travail "Méthodes et Outils pour la Synthèse et l'Analyse en Robustesse"]] du [http://www.univ-valenciennes.fr/gdr-macs/node/4407 GDR MACS (Groupement de Recherche "Modélisation, Analyse et Conduite des Systèmes")] de 2007 à 2014 * Responsable de la licence professionnelle "Qualité et Maîtrise de l'Énergie Électrique" de 2004 à 2024 =Activité d'enseignements= Mes ressources pégagogiques sont disponibles sur la [https://moodle3.unistra.fr/ plateforme Moodle] (accès restreint) et sur http://eavr.u-strasbg.fr/~laroche/student/ (non maintenu). == [http://www.physique-ingenierie.unistra.fr/ Faculté de Physique et Ingénierie] == * [http://www.physique-ingenierie.unistra.fr/spip.php?article7 Licence Physique et Sciences pour l'Ingénieur] ** [https://moodle3.unistra.fr/course/view.php?id=1918 Méthodologies du travail universitaire] (responsable de l'UE) ** [https://moodle3.unistra.fr/course/view.php?id=1929 Projet Personnel et Professionnel] ** [https://moodle3.unistra.fr/course/view.php?id=9463 Automatique] (co-responsable de l'UE) * [http://www.physique-ingenierie.unistra.fr/spip.php?article10 Licence Professionnelle Efficacité Énergétique] ** Méthodologies du travail ** [https://moodle3.unistra.fr/course/view.php?id=2754 Préparation et valorisation de l'apprentissage] * [http://www.physique-ingenierie.unistra.fr/spip.php?rubrique21 Master PAIP] ** [http://www.physique-ingenierie.unistra.fr/spip.php?article103 Spécialité Mécatronique et Énergie] *** Gestion de l'Énergie *** [https://moodle3.unistra.fr/course/view.php?id=1933 Conversion électro-mécanique] *** [https://moodle3.unistra.fr/course/view.php?id=1932 Capteurs Industriels] * Master GI, PAIP et SGM ** [https://moodle3.unistra.fr/course/view.php?id=2765 Valorisation de stage] == [http://www.telecom-physique.fr/ Télécom-Physique-Strasbourg] == * [http://fip2i-alsace.u-strasbg.fr/ FIP] 1a : [https://moodle3.unistra.fr/course/view.php?id=1927 Automatique continue] * TPS 2a : [[Ingénierie durable]] * TPS 3a & [http://master-iriv.u-strasbg.fr/index.php Master IRIV] [http://master-iriv.u-strasbg.fr/index.php/Parcours_AR parcours Automatique et Robotique] ** [https://docs.google.com/document/d/1gb7l31QD8xR85JuKdDi5Qa_bGg_lj3Tqo9ggBN5yY50/pub Commande robuste] (assuré par I.G. Bara depuis 2018) ** [https://docs.google.com/document/d/1fvn9BTqcZZOIPOZaz7QYWmRdz1AoKsTr42ylOJx0v7w/pub Technologie des asservissements] == [https://www.unistra.fr/index.php?id=27885&tx_unistrarof_pi1%5Brof-program%5D=ME287&cHash=c3f37b922fa8d67f86a42207f338fb8b Licence Sciences pour la santé] == * [https://moodle3.unistra.fr/course/view.php?id=13930 Méthodologies du travail universitaire] (responsable de l'UE) =Activités de recherche= ==Commande robuste des robots flexibles== * Problématique développée depuis 2002 <br/> * Collaboration avec [http://www.lias-lab.fr/perso/guillaumemercere/ G. Mercère] (LIAS, Poitiers), [http://www.unilim.fr/pages_perso/olivier.prot/index.html O. Prot] (XLim, Limoges). Collègues associés : [http://eavr.u-strasbg.fr/~bara I. Bara], [[Page personnelle de Loic Cuvillon|L. Cuvillon]] et [[Page personnelle de Jacques Gangloff|J. Gangloff]] <br/> ===Problématiques=== * Modélisation et identification de modèles LPV (linéaires à paramètres variants) des manipulateurs séries présentant des flexibilités ** [http://icube-avr.unistra.fr/en/index.php/Identification_benchmark Benchmark sur l'identification d'un bras robotique avec mesure par vision (en anglais)] * Commande robuste permettant de garantir les performances sur un espace de travail * Identification et commande des robots parallèles à câbles ===Financements=== * Projet [https://hypnovr.icube.unistra.fr/index.php/Le_projet HypnoVR 2017] financé par la Région Grand-Est et le FEDER * Projet CNRS [http://newlsiit.u-strasbg.fr/idrac/index.php/Accueil PEPS IDRAC] (2010-2011) * Preciput-ANR de l'ULP (2009) ==Projets passés== * Commande de dispositifs de stabilisation actifs pour la chirurgie à coeur battant (Cardiolock et Gyrolock, 2005-2012) * Asservissement visuel pour la robotique médicale (collaboration avec l'université de Tohoku soutenue par le CNRS et le JST) [https://lsiit-cnrs.unistra.fr/sendai-strasbourg/] (2007-2012) * Commande des systèmes d'enroulement de bandes flexibles (2000-2002) * Identification et commande des machines asynchrones (moteurs électriques à induction) ==Outils développés== * [http://eavr.u-strasbg.fr/~laroche/flexrob/ Modèle d'un bras manipulateur flexible] réalisé sous Maple avec DynaFlex * [http://eavr.u-strasbg.fr/~laroche/camera/ Modèles de la mesure de position par caméra] tenant compte des effets dynamiques * [[Planar cable robot with non straight cables]] =Publications= * [https://icube-publis.unistra.fr/?author=Laroche&team=8+23#hideMenu Publications scientifiques] * Pédagogie universitaire ** E. Laroche, ''Accompagner les étudiants dans le développement de leurs méthodes de travail - l’expérience de la Licence Sciences pour la Santé de Strasbourg'', [https://sfar.org/evenement/sfar-le-congres-2021/ SFAR le congrès], septembre 2021 ** E. Laroche, ''Une expérience d'utilisation d'un tutoriel en ligne pour étoffer son enseignement'', [https://rpn.sciencesconf.org Colloque ''Enseigner et apprendre à l'université avec les ressources pédagogiques numériques''], Strasbourg, 24-25 Nov. 2020 ** E. Laroche, C. Sauter, ''Comment la mise en place d’un enseignement transversal a contribué à l’évolution de la posture d’un enseignant'', [https://idip.unistra.fr/wp-content/uploads/2019/12/Cahiers-de-lIdip-HS-AIPU-2019.pdf Actes des Journées AIPU France], p. 100-105, 2019 ** E. Laroche, ''[https://seafile.unistra.fr/f/4eb3d160fe244f869db5/ Refonte des MTU à la faculté de physique et ingénierie]'', J'IDIP, 2018 ** E. Laroche, S. Zingaretti, S. Vonie, ''Classe renversée et évaluation par les pairs : un retour d’expérience'', [https://drive.google.com/file/d/0B9il8y4PowIDZWFybjU4V2VqMG8/view Actes du 29ème Congrès de l'AIPU], p. 26-27, Lausanne, 6-9 juin 2016 =Autres pages= * [http://www.physique-ingenierie.unistra.fr/spip.php?article71 Ma page sur le site de la Faculté de physique et ingénierie] * [http://scholar.google.com/citations?user=sLoa3QMAAAAJ&hl=fr Google scholar] * [http://orcid.org/0000-0002-0607-6861 ORCID] * [https://www.researchgate.net/profile/Edouard_Laroche Research gate] * [https://www.linkedin.com/profile/view?id=62536172 LinkedIn] * [http://www.viadeo.com/profile/0021oyh4dv6ed6r3 Viadeo] * [http://www.theses.fr/168812339 theses.fr] 4f4fd8fad5d319caecc18681926ad656ee1f60a5 322 321 2022-10-04T12:39:28Z Laroche 8 /* Télécom-Physique-Strasbourg */ wikitext text/x-wiki [[Image:Edouard2019z2.jpeg|right|150px]] '''Professeur des Universités en automatique (section CNU 61)''' Thématiques : commande robuste, modélisation et identification, commande des robots, systèmes flexibles, commande des systèmes électriques =Contact= ICube - AVR<br /> Bd S. Brant, BP 10413, F-67412 Illkirch cedex<br /> Tel: +33 3 68 85 44 68 <br /> [mailto:laroche@unistra.fr laroche@unistra.fr]<br /> [[Sujets_de_stages|Stages proposés]]<br /> [[Sujets_de_thèses|Sujets de thèse de doctorat proposés]] =Parcours= *Né en 1971 à Paris. *Ingénieur de l'[https://ensem.univ-lorraine.fr École Nationale Supérieure d'Électricité et de Mécanique de Nancy] et titulaire du DEA PROTEE en 1994<br /> *Ancien élève de l'[https://ens-paris-saclay.fr ENS de Cachan/Paris Saclay], Agrégé de génie électrique en 1995, titulaire du DEA de didactique des sciences et techniques (1996)<br /> *Docteur de l'ENS de Cachan (2000). Titre de la [http://www.theses.fr/2000DENS0012 thèse] : ''Méthodologies multimodèles pour l’identification et la commande robuste de la machine asynchrone'' dirigée par [http://www.satie.ens-cachan.fr/version-francaise/les-membres/chercheurs-et-enseignants-chercheurs/chercheurs-pole-siame/abou-kandil-hisham-214839.kjsp?RH=1371131439750 H. Abou-Kandil] et J.P. Louis. <br /> *Maître de conférences à l'Université Louis Pasteur de Strasbourg de 2000 à 2008 <br /> *Habilité à dirigé des recherches en 2007. Titre de l'HDR : [http://eavr.u-strasbg.fr/~laroche/hdr/HDR-EL.pdf ''Identification et Commande Robuste de Systèmes Electromécaniques'' ]. Garant: [[Michel de Mathelin personal web page|M. de Mathelin]], rapporteurs: [http://www.cran.univ-lorraine.fr/detailindividupublic.php?appel=annuaire&codetheme=&codeindividu=00186&codelangue=FR A. Richard], [http://homepages.laas.fr/arzelier/ D. Arzelier] et [https://www.researchgate.net/profile/Said_Ahzi S. Ahzi] <br /> *Professeur des Universités à l'[http://www.unistra.fr/ Université de Strasbourg] depuis 2008 <br /> =Responsabilités= == Actuelles == * Chargé de mission Qualité de formations auprès de la vice-présidente Formation et parcours de réussite depuis 2021 * Directeur adjoint de la [http://www.physique-ingenierie.unistra.fr Faculté de physique et ingénierie] depuis 2016 * Référent "[https://evaluation-formation.unistra.fr qualité des formations]" de la faculté de physique et ingénierie depuis 2012 * Membre élu du conseil du laboratoire ICube * Responsable du développement d'un module pour le [https://www.unisciel.fr/2021/04/15/presentation-du-projet-hilisit/ projet HILISIT] == Antérieures == * Organisation de conférences: ** [https://cdc2019.ieeecss.org CDC 2019] (1600 participants) : responsable de l'organisation locale ** [http://www.ifac2017.org/ IFAC World Congress 2017] (3000 participants) : responsable des inscriptions (avec [http://www.supelec.fr/360_p_10005/sorin-olaru.html Sorin Olaru] de Centrale-Supélec) ** [http://www.ecc14.eu/ ECC'14] (European Control Conférence, 600 participants) : responsable de l'organisation locale ** [https://jdjnmacs2013.sciencesconf.org/ JD-JN MACS 2013] (Journées doctorales et Nationales du GDR MACS) : responsable de l'organisation locale * Animateur du [[w3.onera.fr/mosar/|Groupe de Travail "Méthodes et Outils pour la Synthèse et l'Analyse en Robustesse"]] du [http://www.univ-valenciennes.fr/gdr-macs/node/4407 GDR MACS (Groupement de Recherche "Modélisation, Analyse et Conduite des Systèmes")] de 2007 à 2014 * Responsable de la licence professionnelle "Qualité et Maîtrise de l'Énergie Électrique" de 2004 à 2024 =Activité d'enseignements= Mes ressources pégagogiques sont disponibles sur la [https://moodle3.unistra.fr/ plateforme Moodle] (accès restreint) et sur http://eavr.u-strasbg.fr/~laroche/student/ (non maintenu). == [http://www.physique-ingenierie.unistra.fr/ Faculté de Physique et Ingénierie] == * [http://www.physique-ingenierie.unistra.fr/spip.php?article7 Licence Physique et Sciences pour l'Ingénieur] ** [https://moodle3.unistra.fr/course/view.php?id=1918 Méthodologies du travail universitaire] (responsable de l'UE) ** [https://moodle3.unistra.fr/course/view.php?id=1929 Projet Personnel et Professionnel] ** [https://moodle3.unistra.fr/course/view.php?id=9463 Automatique] (co-responsable de l'UE) * [http://www.physique-ingenierie.unistra.fr/spip.php?article10 Licence Professionnelle Efficacité Énergétique] ** Méthodologies du travail ** [https://moodle3.unistra.fr/course/view.php?id=2754 Préparation et valorisation de l'apprentissage] * [http://www.physique-ingenierie.unistra.fr/spip.php?rubrique21 Master PAIP] ** [http://www.physique-ingenierie.unistra.fr/spip.php?article103 Spécialité Mécatronique et Énergie] *** Gestion de l'Énergie *** [https://moodle3.unistra.fr/course/view.php?id=1933 Conversion électro-mécanique] *** [https://moodle3.unistra.fr/course/view.php?id=1932 Capteurs Industriels] * Master GI, PAIP et SGM ** [https://moodle3.unistra.fr/course/view.php?id=2765 Valorisation de stage] == [http://www.telecom-physique.fr/ Télécom-Physique-Strasbourg] == * [http://fip2i-alsace.u-strasbg.fr/ FIP] 1a : [https://moodle3.unistra.fr/course/view.php?id=1927 Automatique continue] * TPS 2a : [[Ingénierie durable]] * TPS 3a & [http://master-iriv.u-strasbg.fr/index.php Master IRIV] [http://master-iriv.u-strasbg.fr/index.php/Parcours_AR parcours Automatique et Robotique] ** [https://docs.google.com/document/d/1gb7l31QD8xR85JuKdDi5Qa_bGg_lj3Tqo9ggBN5yY50/pub Commande robuste] (assuré par I.G. Bara depuis 2018) ** [https://docs.google.com/document/d/1fvn9BTqcZZOIPOZaz7QYWmRdz1AoKsTr42ylOJx0v7w/pub Technologie des asservissements] (partie dimensionnement) == [https://www.unistra.fr/index.php?id=27885&tx_unistrarof_pi1%5Brof-program%5D=ME287&cHash=c3f37b922fa8d67f86a42207f338fb8b Licence Sciences pour la santé] == * [https://moodle3.unistra.fr/course/view.php?id=13930 Méthodologies du travail universitaire] (responsable de l'UE) =Activités de recherche= ==Commande robuste des robots flexibles== * Problématique développée depuis 2002 <br/> * Collaboration avec [http://www.lias-lab.fr/perso/guillaumemercere/ G. Mercère] (LIAS, Poitiers), [http://www.unilim.fr/pages_perso/olivier.prot/index.html O. Prot] (XLim, Limoges). Collègues associés : [http://eavr.u-strasbg.fr/~bara I. Bara], [[Page personnelle de Loic Cuvillon|L. Cuvillon]] et [[Page personnelle de Jacques Gangloff|J. Gangloff]] <br/> ===Problématiques=== * Modélisation et identification de modèles LPV (linéaires à paramètres variants) des manipulateurs séries présentant des flexibilités ** [http://icube-avr.unistra.fr/en/index.php/Identification_benchmark Benchmark sur l'identification d'un bras robotique avec mesure par vision (en anglais)] * Commande robuste permettant de garantir les performances sur un espace de travail * Identification et commande des robots parallèles à câbles ===Financements=== * Projet [https://hypnovr.icube.unistra.fr/index.php/Le_projet HypnoVR 2017] financé par la Région Grand-Est et le FEDER * Projet CNRS [http://newlsiit.u-strasbg.fr/idrac/index.php/Accueil PEPS IDRAC] (2010-2011) * Preciput-ANR de l'ULP (2009) ==Projets passés== * Commande de dispositifs de stabilisation actifs pour la chirurgie à coeur battant (Cardiolock et Gyrolock, 2005-2012) * Asservissement visuel pour la robotique médicale (collaboration avec l'université de Tohoku soutenue par le CNRS et le JST) [https://lsiit-cnrs.unistra.fr/sendai-strasbourg/] (2007-2012) * Commande des systèmes d'enroulement de bandes flexibles (2000-2002) * Identification et commande des machines asynchrones (moteurs électriques à induction) ==Outils développés== * [http://eavr.u-strasbg.fr/~laroche/flexrob/ Modèle d'un bras manipulateur flexible] réalisé sous Maple avec DynaFlex * [http://eavr.u-strasbg.fr/~laroche/camera/ Modèles de la mesure de position par caméra] tenant compte des effets dynamiques * [[Planar cable robot with non straight cables]] =Publications= * [https://icube-publis.unistra.fr/?author=Laroche&team=8+23#hideMenu Publications scientifiques] * Pédagogie universitaire ** E. Laroche, ''Accompagner les étudiants dans le développement de leurs méthodes de travail - l’expérience de la Licence Sciences pour la Santé de Strasbourg'', [https://sfar.org/evenement/sfar-le-congres-2021/ SFAR le congrès], septembre 2021 ** E. Laroche, ''Une expérience d'utilisation d'un tutoriel en ligne pour étoffer son enseignement'', [https://rpn.sciencesconf.org Colloque ''Enseigner et apprendre à l'université avec les ressources pédagogiques numériques''], Strasbourg, 24-25 Nov. 2020 ** E. Laroche, C. Sauter, ''Comment la mise en place d’un enseignement transversal a contribué à l’évolution de la posture d’un enseignant'', [https://idip.unistra.fr/wp-content/uploads/2019/12/Cahiers-de-lIdip-HS-AIPU-2019.pdf Actes des Journées AIPU France], p. 100-105, 2019 ** E. Laroche, ''[https://seafile.unistra.fr/f/4eb3d160fe244f869db5/ Refonte des MTU à la faculté de physique et ingénierie]'', J'IDIP, 2018 ** E. Laroche, S. Zingaretti, S. Vonie, ''Classe renversée et évaluation par les pairs : un retour d’expérience'', [https://drive.google.com/file/d/0B9il8y4PowIDZWFybjU4V2VqMG8/view Actes du 29ème Congrès de l'AIPU], p. 26-27, Lausanne, 6-9 juin 2016 =Autres pages= * [http://www.physique-ingenierie.unistra.fr/spip.php?article71 Ma page sur le site de la Faculté de physique et ingénierie] * [http://scholar.google.com/citations?user=sLoa3QMAAAAJ&hl=fr Google scholar] * [http://orcid.org/0000-0002-0607-6861 ORCID] * [https://www.researchgate.net/profile/Edouard_Laroche Research gate] * [https://www.linkedin.com/profile/view?id=62536172 LinkedIn] * [http://www.viadeo.com/profile/0021oyh4dv6ed6r3 Viadeo] * [http://www.theses.fr/168812339 theses.fr] d77ed33c8bb08f4e2de3903d12e93fba1edab6ff 323 322 2022-10-04T12:41:14Z Laroche 8 /* Publications */ wikitext text/x-wiki [[Image:Edouard2019z2.jpeg|right|150px]] '''Professeur des Universités en automatique (section CNU 61)''' Thématiques : commande robuste, modélisation et identification, commande des robots, systèmes flexibles, commande des systèmes électriques =Contact= ICube - AVR<br /> Bd S. Brant, BP 10413, F-67412 Illkirch cedex<br /> Tel: +33 3 68 85 44 68 <br /> [mailto:laroche@unistra.fr laroche@unistra.fr]<br /> [[Sujets_de_stages|Stages proposés]]<br /> [[Sujets_de_thèses|Sujets de thèse de doctorat proposés]] =Parcours= *Né en 1971 à Paris. *Ingénieur de l'[https://ensem.univ-lorraine.fr École Nationale Supérieure d'Électricité et de Mécanique de Nancy] et titulaire du DEA PROTEE en 1994<br /> *Ancien élève de l'[https://ens-paris-saclay.fr ENS de Cachan/Paris Saclay], Agrégé de génie électrique en 1995, titulaire du DEA de didactique des sciences et techniques (1996)<br /> *Docteur de l'ENS de Cachan (2000). Titre de la [http://www.theses.fr/2000DENS0012 thèse] : ''Méthodologies multimodèles pour l’identification et la commande robuste de la machine asynchrone'' dirigée par [http://www.satie.ens-cachan.fr/version-francaise/les-membres/chercheurs-et-enseignants-chercheurs/chercheurs-pole-siame/abou-kandil-hisham-214839.kjsp?RH=1371131439750 H. Abou-Kandil] et J.P. Louis. <br /> *Maître de conférences à l'Université Louis Pasteur de Strasbourg de 2000 à 2008 <br /> *Habilité à dirigé des recherches en 2007. Titre de l'HDR : [http://eavr.u-strasbg.fr/~laroche/hdr/HDR-EL.pdf ''Identification et Commande Robuste de Systèmes Electromécaniques'' ]. Garant: [[Michel de Mathelin personal web page|M. de Mathelin]], rapporteurs: [http://www.cran.univ-lorraine.fr/detailindividupublic.php?appel=annuaire&codetheme=&codeindividu=00186&codelangue=FR A. Richard], [http://homepages.laas.fr/arzelier/ D. Arzelier] et [https://www.researchgate.net/profile/Said_Ahzi S. Ahzi] <br /> *Professeur des Universités à l'[http://www.unistra.fr/ Université de Strasbourg] depuis 2008 <br /> =Responsabilités= == Actuelles == * Chargé de mission Qualité de formations auprès de la vice-présidente Formation et parcours de réussite depuis 2021 * Directeur adjoint de la [http://www.physique-ingenierie.unistra.fr Faculté de physique et ingénierie] depuis 2016 * Référent "[https://evaluation-formation.unistra.fr qualité des formations]" de la faculté de physique et ingénierie depuis 2012 * Membre élu du conseil du laboratoire ICube * Responsable du développement d'un module pour le [https://www.unisciel.fr/2021/04/15/presentation-du-projet-hilisit/ projet HILISIT] == Antérieures == * Organisation de conférences: ** [https://cdc2019.ieeecss.org CDC 2019] (1600 participants) : responsable de l'organisation locale ** [http://www.ifac2017.org/ IFAC World Congress 2017] (3000 participants) : responsable des inscriptions (avec [http://www.supelec.fr/360_p_10005/sorin-olaru.html Sorin Olaru] de Centrale-Supélec) ** [http://www.ecc14.eu/ ECC'14] (European Control Conférence, 600 participants) : responsable de l'organisation locale ** [https://jdjnmacs2013.sciencesconf.org/ JD-JN MACS 2013] (Journées doctorales et Nationales du GDR MACS) : responsable de l'organisation locale * Animateur du [[w3.onera.fr/mosar/|Groupe de Travail "Méthodes et Outils pour la Synthèse et l'Analyse en Robustesse"]] du [http://www.univ-valenciennes.fr/gdr-macs/node/4407 GDR MACS (Groupement de Recherche "Modélisation, Analyse et Conduite des Systèmes")] de 2007 à 2014 * Responsable de la licence professionnelle "Qualité et Maîtrise de l'Énergie Électrique" de 2004 à 2024 =Activité d'enseignements= Mes ressources pégagogiques sont disponibles sur la [https://moodle3.unistra.fr/ plateforme Moodle] (accès restreint) et sur http://eavr.u-strasbg.fr/~laroche/student/ (non maintenu). == [http://www.physique-ingenierie.unistra.fr/ Faculté de Physique et Ingénierie] == * [http://www.physique-ingenierie.unistra.fr/spip.php?article7 Licence Physique et Sciences pour l'Ingénieur] ** [https://moodle3.unistra.fr/course/view.php?id=1918 Méthodologies du travail universitaire] (responsable de l'UE) ** [https://moodle3.unistra.fr/course/view.php?id=1929 Projet Personnel et Professionnel] ** [https://moodle3.unistra.fr/course/view.php?id=9463 Automatique] (co-responsable de l'UE) * [http://www.physique-ingenierie.unistra.fr/spip.php?article10 Licence Professionnelle Efficacité Énergétique] ** Méthodologies du travail ** [https://moodle3.unistra.fr/course/view.php?id=2754 Préparation et valorisation de l'apprentissage] * [http://www.physique-ingenierie.unistra.fr/spip.php?rubrique21 Master PAIP] ** [http://www.physique-ingenierie.unistra.fr/spip.php?article103 Spécialité Mécatronique et Énergie] *** Gestion de l'Énergie *** [https://moodle3.unistra.fr/course/view.php?id=1933 Conversion électro-mécanique] *** [https://moodle3.unistra.fr/course/view.php?id=1932 Capteurs Industriels] * Master GI, PAIP et SGM ** [https://moodle3.unistra.fr/course/view.php?id=2765 Valorisation de stage] == [http://www.telecom-physique.fr/ Télécom-Physique-Strasbourg] == * [http://fip2i-alsace.u-strasbg.fr/ FIP] 1a : [https://moodle3.unistra.fr/course/view.php?id=1927 Automatique continue] * TPS 2a : [[Ingénierie durable]] * TPS 3a & [http://master-iriv.u-strasbg.fr/index.php Master IRIV] [http://master-iriv.u-strasbg.fr/index.php/Parcours_AR parcours Automatique et Robotique] ** [https://docs.google.com/document/d/1gb7l31QD8xR85JuKdDi5Qa_bGg_lj3Tqo9ggBN5yY50/pub Commande robuste] (assuré par I.G. Bara depuis 2018) ** [https://docs.google.com/document/d/1fvn9BTqcZZOIPOZaz7QYWmRdz1AoKsTr42ylOJx0v7w/pub Technologie des asservissements] (partie dimensionnement) == [https://www.unistra.fr/index.php?id=27885&tx_unistrarof_pi1%5Brof-program%5D=ME287&cHash=c3f37b922fa8d67f86a42207f338fb8b Licence Sciences pour la santé] == * [https://moodle3.unistra.fr/course/view.php?id=13930 Méthodologies du travail universitaire] (responsable de l'UE) =Activités de recherche= ==Commande robuste des robots flexibles== * Problématique développée depuis 2002 <br/> * Collaboration avec [http://www.lias-lab.fr/perso/guillaumemercere/ G. Mercère] (LIAS, Poitiers), [http://www.unilim.fr/pages_perso/olivier.prot/index.html O. Prot] (XLim, Limoges). Collègues associés : [http://eavr.u-strasbg.fr/~bara I. Bara], [[Page personnelle de Loic Cuvillon|L. Cuvillon]] et [[Page personnelle de Jacques Gangloff|J. Gangloff]] <br/> ===Problématiques=== * Modélisation et identification de modèles LPV (linéaires à paramètres variants) des manipulateurs séries présentant des flexibilités ** [http://icube-avr.unistra.fr/en/index.php/Identification_benchmark Benchmark sur l'identification d'un bras robotique avec mesure par vision (en anglais)] * Commande robuste permettant de garantir les performances sur un espace de travail * Identification et commande des robots parallèles à câbles ===Financements=== * Projet [https://hypnovr.icube.unistra.fr/index.php/Le_projet HypnoVR 2017] financé par la Région Grand-Est et le FEDER * Projet CNRS [http://newlsiit.u-strasbg.fr/idrac/index.php/Accueil PEPS IDRAC] (2010-2011) * Preciput-ANR de l'ULP (2009) ==Projets passés== * Commande de dispositifs de stabilisation actifs pour la chirurgie à coeur battant (Cardiolock et Gyrolock, 2005-2012) * Asservissement visuel pour la robotique médicale (collaboration avec l'université de Tohoku soutenue par le CNRS et le JST) [https://lsiit-cnrs.unistra.fr/sendai-strasbourg/] (2007-2012) * Commande des systèmes d'enroulement de bandes flexibles (2000-2002) * Identification et commande des machines asynchrones (moteurs électriques à induction) ==Outils développés== * [http://eavr.u-strasbg.fr/~laroche/flexrob/ Modèle d'un bras manipulateur flexible] réalisé sous Maple avec DynaFlex * [http://eavr.u-strasbg.fr/~laroche/camera/ Modèles de la mesure de position par caméra] tenant compte des effets dynamiques * [[Planar cable robot with non straight cables]] =Publications= * [https://icube-publis.unistra.fr/?author=Laroche&team=8+23#hideMenu Publications scientifiques] * Pédagogie universitaire (retours d'expérience sur des innovations pédagogiques) ** E. Laroche, ''Accompagner les étudiants dans le développement de leurs méthodes de travail - l’expérience de la Licence Sciences pour la Santé de Strasbourg'', [https://sfar.org/evenement/sfar-le-congres-2021/ SFAR le congrès], septembre 2021 ** E. Laroche, ''Une expérience d'utilisation d'un tutoriel en ligne pour étoffer son enseignement'', [https://rpn.sciencesconf.org Colloque ''Enseigner et apprendre à l'université avec les ressources pédagogiques numériques''], Strasbourg, 24-25 Nov. 2020 ** E. Laroche, C. Sauter, ''Comment la mise en place d’un enseignement transversal a contribué à l’évolution de la posture d’un enseignant'', [https://idip.unistra.fr/wp-content/uploads/2019/12/Cahiers-de-lIdip-HS-AIPU-2019.pdf Actes des Journées AIPU France], p. 100-105, 2019 ** E. Laroche, ''[https://seafile.unistra.fr/f/4eb3d160fe244f869db5/ Refonte des MTU à la faculté de physique et ingénierie]'', J'IDIP, 2018 ** E. Laroche, S. Zingaretti, S. Vonie, ''Classe renversée et évaluation par les pairs : un retour d’expérience'', [https://drive.google.com/file/d/0B9il8y4PowIDZWFybjU4V2VqMG8/view Actes du 29ème Congrès de l'AIPU], p. 26-27, Lausanne, 6-9 juin 2016 =Autres pages= * [http://www.physique-ingenierie.unistra.fr/spip.php?article71 Ma page sur le site de la Faculté de physique et ingénierie] * [http://scholar.google.com/citations?user=sLoa3QMAAAAJ&hl=fr Google scholar] * [http://orcid.org/0000-0002-0607-6861 ORCID] * [https://www.researchgate.net/profile/Edouard_Laroche Research gate] * [https://www.linkedin.com/profile/view?id=62536172 LinkedIn] * [http://www.viadeo.com/profile/0021oyh4dv6ed6r3 Viadeo] * [http://www.theses.fr/168812339 theses.fr] 89eb690a109c1ae1fb67ae3015dd1efdb6a24abd 0 50 327 262 2022-10-06T08:53:47Z B.rosa 6 /* Computer vision, object recognition and scene understanding */ wikitext text/x-wiki The Learning, Modelling, and Data Science team brings together researchers in the team who work on artificial intelligence (AI), simulation, and computer vision methods. <div style="position: relative; overflow: hidden; height: 300px;"> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:cvs.png|right|500px|Image-based estimation of the critical view of safety in cholecystectomy]]</div> <div style="position: relative; height: 1%;">[[Image:funsis.png|right|500px|Unsupervised tool segmentation in endoscopic videos]]</div> <div style="position: relative; height: 1%;">[[Image:pose_est.png|right|500px|3D pose estimation in the OR from RGBD cameras]]</div> <div style="position: relative; height: 1%;">[[Image:sperry.png|right|500px|Robotic needle insertion with finite element simulation in the control loop]]</div> <div style="position: relative; height: 1%;">[[Image:us_elasto.png|right|500px|MRI elastography]]</div> <div style="position: relative; height: 1%;">[[Image:veineporte.png|right|500px|Portal vein flow reconstruction from real-time imaging]]</div> <div style="position: relative; height: 1%;">[[Image:xaware.png|right|500px|Physical simulation for radiation exposure estimation in the OR]]</div> </slideshow> </div> </div> == Computer vision, object recognition and scene understanding == [http://habed.weebly.com/ Adlane Habed] [http://camma.u-strasbg.fr/npadoy Nicolas Padoy] [https://sites.google.com/site/benoitrosa Benoit Rosa] This axis concerns the development of computer vision methods for object recognition, 3D scene understanding and assessment, endoscopic image segmentation, or surgical phase estimation. Optimization methods have been developed for applications such as the autocalibration of cameras or visual odometry. We are interested in building original, robust optimization algorithms, exploiting rich multi-modal information such as semantic maps. In the medical context, a driving theme is the development of a surgical control tower, monitoring events in the operating room. Majors results have been obtained using modern deep learning techniques, for instance regarding the 3D pose estimation of operators in the room, surgical phase estimation, and segmentationor pose estimation of surgical instruments. A limitation of such methods is the need for large, high quality datasets. We are therefore more and more interested in weakly- and self-supervised approaches, which exploit available data sources or a specific structure of the information in order to limit the amount of labeled data required. == Numerical simulation methods for surgical applications == [https://www.simonchatelin.icube.cnrs.fr/ Simon Chatelin] Hadrien Courtecuisse Jean-Philippe Dillenseger The second major problem we tackle in this theme is the development of numerical simulation methods for surgical applications. A first application of such models is to help the design and modeling of robots. An interesting approach developed in partnership with researchers from the MLMS team is to include real-time finite element simulations within the control loop of a robotic system in order to anticipate environment deformations and interactions. We are also interested in developing biomechanical models of patient-specific features such as soft tissues. These developments are accompanied by the development of methods for the acquisition of multi-scale and patient-specific in vivo physical parameters via biomedical imaging (with a specific focus on elastography using preclinical and clinical MRI and ultrasound methods). Finally, simulations can also drive the training of surgical staff, as shown with the X-aware prototype in which physical radiation models and AI-based 3D pose estimation allow making a clinician aware of his/her full body exposure to x-ray during interventional radiology procedures. == Data sience methods and clinical translation == Georgios Exarchagis Jean-Paul Mazellier Nicolas Padoy The last axis within this theme concerns transverse methodological research problems in AI, which could be applicable to both computer vision and simulation methods. We aim to tackle key problems towards clinical application of the methods developed in our work. One first key problem is the generalizability problem, i.e. proving that our methods are robust to diverse conditions. To this aim, we develop data augmentation techniques with original synthetic data generation methods. We have recently started working on coupling simulation and AI or computer vision methods in a synergistic fashion. Simulated models can for instance be a source of information to augment available data with semi-synthetic inputs in order to train more realistic AI models without increasing the data gathering and annotation costs. We are also increasingly interested in federated learning approaches, for training models with multi-centric sensitive data. 2bdd69c4127ecf04d2138297ef1e51c9e6b6b962 328 327 2022-10-06T08:54:14Z B.rosa 6 /* Numerical simulation methods for surgical applications */ wikitext text/x-wiki The Learning, Modelling, and Data Science team brings together researchers in the team who work on artificial intelligence (AI), simulation, and computer vision methods. <div style="position: relative; overflow: hidden; height: 300px;"> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:cvs.png|right|500px|Image-based estimation of the critical view of safety in cholecystectomy]]</div> <div style="position: relative; height: 1%;">[[Image:funsis.png|right|500px|Unsupervised tool segmentation in endoscopic videos]]</div> <div style="position: relative; height: 1%;">[[Image:pose_est.png|right|500px|3D pose estimation in the OR from RGBD cameras]]</div> <div style="position: relative; height: 1%;">[[Image:sperry.png|right|500px|Robotic needle insertion with finite element simulation in the control loop]]</div> <div style="position: relative; height: 1%;">[[Image:us_elasto.png|right|500px|MRI elastography]]</div> <div style="position: relative; height: 1%;">[[Image:veineporte.png|right|500px|Portal vein flow reconstruction from real-time imaging]]</div> <div style="position: relative; height: 1%;">[[Image:xaware.png|right|500px|Physical simulation for radiation exposure estimation in the OR]]</div> </slideshow> </div> </div> == Computer vision, object recognition and scene understanding == [http://habed.weebly.com/ Adlane Habed] [http://camma.u-strasbg.fr/npadoy Nicolas Padoy] [https://sites.google.com/site/benoitrosa Benoit Rosa] This axis concerns the development of computer vision methods for object recognition, 3D scene understanding and assessment, endoscopic image segmentation, or surgical phase estimation. Optimization methods have been developed for applications such as the autocalibration of cameras or visual odometry. We are interested in building original, robust optimization algorithms, exploiting rich multi-modal information such as semantic maps. In the medical context, a driving theme is the development of a surgical control tower, monitoring events in the operating room. Majors results have been obtained using modern deep learning techniques, for instance regarding the 3D pose estimation of operators in the room, surgical phase estimation, and segmentationor pose estimation of surgical instruments. A limitation of such methods is the need for large, high quality datasets. We are therefore more and more interested in weakly- and self-supervised approaches, which exploit available data sources or a specific structure of the information in order to limit the amount of labeled data required. == Numerical simulation methods for surgical applications == [https://www.simonchatelin.icube.cnrs.fr/ Simon Chatelin] [https://hadrien.courtecuisse.cnrs.fr/ Hadrien Courtecuisse] Jean-Philippe Dillenseger The second major problem we tackle in this theme is the development of numerical simulation methods for surgical applications. A first application of such models is to help the design and modeling of robots. An interesting approach developed in partnership with researchers from the MLMS team is to include real-time finite element simulations within the control loop of a robotic system in order to anticipate environment deformations and interactions. We are also interested in developing biomechanical models of patient-specific features such as soft tissues. These developments are accompanied by the development of methods for the acquisition of multi-scale and patient-specific in vivo physical parameters via biomedical imaging (with a specific focus on elastography using preclinical and clinical MRI and ultrasound methods). Finally, simulations can also drive the training of surgical staff, as shown with the X-aware prototype in which physical radiation models and AI-based 3D pose estimation allow making a clinician aware of his/her full body exposure to x-ray during interventional radiology procedures. == Data sience methods and clinical translation == Georgios Exarchagis Jean-Paul Mazellier Nicolas Padoy The last axis within this theme concerns transverse methodological research problems in AI, which could be applicable to both computer vision and simulation methods. We aim to tackle key problems towards clinical application of the methods developed in our work. One first key problem is the generalizability problem, i.e. proving that our methods are robust to diverse conditions. To this aim, we develop data augmentation techniques with original synthetic data generation methods. We have recently started working on coupling simulation and AI or computer vision methods in a synergistic fashion. Simulated models can for instance be a source of information to augment available data with semi-synthetic inputs in order to train more realistic AI models without increasing the data gathering and annotation costs. We are also increasingly interested in federated learning approaches, for training models with multi-centric sensitive data. bb652cd3ea3c87b90480cbc5587bb8b321e4bdd6 333 328 2022-10-11T13:53:42Z Npadoy 24 /* Computer vision, object recognition and scene understanding */ wikitext text/x-wiki The Learning, Modelling, and Data Science team brings together researchers in the team who work on artificial intelligence (AI), simulation, and computer vision methods. <div style="position: relative; overflow: hidden; height: 300px;"> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:cvs.png|right|500px|Image-based estimation of the critical view of safety in cholecystectomy]]</div> <div style="position: relative; height: 1%;">[[Image:funsis.png|right|500px|Unsupervised tool segmentation in endoscopic videos]]</div> <div style="position: relative; height: 1%;">[[Image:pose_est.png|right|500px|3D pose estimation in the OR from RGBD cameras]]</div> <div style="position: relative; height: 1%;">[[Image:sperry.png|right|500px|Robotic needle insertion with finite element simulation in the control loop]]</div> <div style="position: relative; height: 1%;">[[Image:us_elasto.png|right|500px|MRI elastography]]</div> <div style="position: relative; height: 1%;">[[Image:veineporte.png|right|500px|Portal vein flow reconstruction from real-time imaging]]</div> <div style="position: relative; height: 1%;">[[Image:xaware.png|right|500px|Physical simulation for radiation exposure estimation in the OR]]</div> </slideshow> </div> </div> == Computer vision, object recognition and scene understanding == [http://habed.weebly.com/ Adlane Habed] [http://camma.u-strasbg.fr/npadoy Nicolas Padoy] [https://sites.google.com/site/benoitrosa Benoit Rosa] Vinkle Srivastav This axis concerns the development of computer vision methods for object recognition, 3D scene understanding and assessment, endoscopic image segmentation, or surgical phase estimation. Optimization methods have been developed for applications such as the autocalibration of cameras or visual odometry. We are interested in building original, robust optimization algorithms, exploiting rich multi-modal information such as semantic maps. In the medical context, a driving theme is the development of a surgical control tower, monitoring events in the operating room. Majors results have been obtained using modern deep learning techniques, for instance regarding the 3D pose estimation of operators in the room, surgical phase estimation, and segmentationor pose estimation of surgical instruments. A limitation of such methods is the need for large, high quality datasets. We are therefore more and more interested in weakly- and self-supervised approaches, which exploit available data sources or a specific structure of the information in order to limit the amount of labeled data required. == Numerical simulation methods for surgical applications == [https://www.simonchatelin.icube.cnrs.fr/ Simon Chatelin] [https://hadrien.courtecuisse.cnrs.fr/ Hadrien Courtecuisse] Jean-Philippe Dillenseger The second major problem we tackle in this theme is the development of numerical simulation methods for surgical applications. A first application of such models is to help the design and modeling of robots. An interesting approach developed in partnership with researchers from the MLMS team is to include real-time finite element simulations within the control loop of a robotic system in order to anticipate environment deformations and interactions. We are also interested in developing biomechanical models of patient-specific features such as soft tissues. These developments are accompanied by the development of methods for the acquisition of multi-scale and patient-specific in vivo physical parameters via biomedical imaging (with a specific focus on elastography using preclinical and clinical MRI and ultrasound methods). Finally, simulations can also drive the training of surgical staff, as shown with the X-aware prototype in which physical radiation models and AI-based 3D pose estimation allow making a clinician aware of his/her full body exposure to x-ray during interventional radiology procedures. == Data sience methods and clinical translation == Georgios Exarchagis Jean-Paul Mazellier Nicolas Padoy The last axis within this theme concerns transverse methodological research problems in AI, which could be applicable to both computer vision and simulation methods. We aim to tackle key problems towards clinical application of the methods developed in our work. One first key problem is the generalizability problem, i.e. proving that our methods are robust to diverse conditions. To this aim, we develop data augmentation techniques with original synthetic data generation methods. We have recently started working on coupling simulation and AI or computer vision methods in a synergistic fashion. Simulated models can for instance be a source of information to augment available data with semi-synthetic inputs in order to train more realistic AI models without increasing the data gathering and annotation costs. We are also increasingly interested in federated learning approaches, for training models with multi-centric sensitive data. 39422327963d25ea4a13f3e1007cd85e21097c3c 334 333 2022-10-11T13:54:30Z Npadoy 24 /* Data sience methods and clinical translation */ wikitext text/x-wiki The Learning, Modelling, and Data Science team brings together researchers in the team who work on artificial intelligence (AI), simulation, and computer vision methods. <div style="position: relative; overflow: hidden; height: 300px;"> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:cvs.png|right|500px|Image-based estimation of the critical view of safety in cholecystectomy]]</div> <div style="position: relative; height: 1%;">[[Image:funsis.png|right|500px|Unsupervised tool segmentation in endoscopic videos]]</div> <div style="position: relative; height: 1%;">[[Image:pose_est.png|right|500px|3D pose estimation in the OR from RGBD cameras]]</div> <div style="position: relative; height: 1%;">[[Image:sperry.png|right|500px|Robotic needle insertion with finite element simulation in the control loop]]</div> <div style="position: relative; height: 1%;">[[Image:us_elasto.png|right|500px|MRI elastography]]</div> <div style="position: relative; height: 1%;">[[Image:veineporte.png|right|500px|Portal vein flow reconstruction from real-time imaging]]</div> <div style="position: relative; height: 1%;">[[Image:xaware.png|right|500px|Physical simulation for radiation exposure estimation in the OR]]</div> </slideshow> </div> </div> == Computer vision, object recognition and scene understanding == [http://habed.weebly.com/ Adlane Habed] [http://camma.u-strasbg.fr/npadoy Nicolas Padoy] [https://sites.google.com/site/benoitrosa Benoit Rosa] Vinkle Srivastav This axis concerns the development of computer vision methods for object recognition, 3D scene understanding and assessment, endoscopic image segmentation, or surgical phase estimation. Optimization methods have been developed for applications such as the autocalibration of cameras or visual odometry. We are interested in building original, robust optimization algorithms, exploiting rich multi-modal information such as semantic maps. In the medical context, a driving theme is the development of a surgical control tower, monitoring events in the operating room. Majors results have been obtained using modern deep learning techniques, for instance regarding the 3D pose estimation of operators in the room, surgical phase estimation, and segmentationor pose estimation of surgical instruments. A limitation of such methods is the need for large, high quality datasets. We are therefore more and more interested in weakly- and self-supervised approaches, which exploit available data sources or a specific structure of the information in order to limit the amount of labeled data required. == Numerical simulation methods for surgical applications == [https://www.simonchatelin.icube.cnrs.fr/ Simon Chatelin] [https://hadrien.courtecuisse.cnrs.fr/ Hadrien Courtecuisse] Jean-Philippe Dillenseger The second major problem we tackle in this theme is the development of numerical simulation methods for surgical applications. A first application of such models is to help the design and modeling of robots. An interesting approach developed in partnership with researchers from the MLMS team is to include real-time finite element simulations within the control loop of a robotic system in order to anticipate environment deformations and interactions. We are also interested in developing biomechanical models of patient-specific features such as soft tissues. These developments are accompanied by the development of methods for the acquisition of multi-scale and patient-specific in vivo physical parameters via biomedical imaging (with a specific focus on elastography using preclinical and clinical MRI and ultrasound methods). Finally, simulations can also drive the training of surgical staff, as shown with the X-aware prototype in which physical radiation models and AI-based 3D pose estimation allow making a clinician aware of his/her full body exposure to x-ray during interventional radiology procedures. == Data sience methods and clinical translation == Alexandros Karargyris Jean-Paul Mazellier Nicolas Padoy Vinkle Srivastav The last axis within this theme concerns transverse methodological research problems in AI, which could be applicable to both computer vision and simulation methods. We aim to tackle key problems towards clinical application of the methods developed in our work. One first key problem is the generalizability problem, i.e. proving that our methods are robust to diverse conditions. To this aim, we develop data augmentation techniques with original synthetic data generation methods. We have recently started working on coupling simulation and AI or computer vision methods in a synergistic fashion. Simulated models can for instance be a source of information to augment available data with semi-synthetic inputs in order to train more realistic AI models without increasing the data gathering and annotation costs. We are also increasingly interested in federated learning approaches, for training models with multi-centric sensitive data. 85d8b37c4d5135da3719305f4274a4b91d111a30 335 334 2022-10-11T13:54:56Z Npadoy 24 /* Computer vision, object recognition and scene understanding */ wikitext text/x-wiki The Learning, Modelling, and Data Science team brings together researchers in the team who work on artificial intelligence (AI), simulation, and computer vision methods. <div style="position: relative; overflow: hidden; height: 300px;"> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:cvs.png|right|500px|Image-based estimation of the critical view of safety in cholecystectomy]]</div> <div style="position: relative; height: 1%;">[[Image:funsis.png|right|500px|Unsupervised tool segmentation in endoscopic videos]]</div> <div style="position: relative; height: 1%;">[[Image:pose_est.png|right|500px|3D pose estimation in the OR from RGBD cameras]]</div> <div style="position: relative; height: 1%;">[[Image:sperry.png|right|500px|Robotic needle insertion with finite element simulation in the control loop]]</div> <div style="position: relative; height: 1%;">[[Image:us_elasto.png|right|500px|MRI elastography]]</div> <div style="position: relative; height: 1%;">[[Image:veineporte.png|right|500px|Portal vein flow reconstruction from real-time imaging]]</div> <div style="position: relative; height: 1%;">[[Image:xaware.png|right|500px|Physical simulation for radiation exposure estimation in the OR]]</div> </slideshow> </div> </div> == Computer vision, object recognition and scene understanding == [http://habed.weebly.com/ Adlane Habed] Jean-Paul Mazellier [http://camma.u-strasbg.fr/npadoy Nicolas Padoy] [https://sites.google.com/site/benoitrosa Benoit Rosa] Vinkle Srivastav This axis concerns the development of computer vision methods for object recognition, 3D scene understanding and assessment, endoscopic image segmentation, or surgical phase estimation. Optimization methods have been developed for applications such as the autocalibration of cameras or visual odometry. We are interested in building original, robust optimization algorithms, exploiting rich multi-modal information such as semantic maps. In the medical context, a driving theme is the development of a surgical control tower, monitoring events in the operating room. Majors results have been obtained using modern deep learning techniques, for instance regarding the 3D pose estimation of operators in the room, surgical phase estimation, and segmentationor pose estimation of surgical instruments. A limitation of such methods is the need for large, high quality datasets. We are therefore more and more interested in weakly- and self-supervised approaches, which exploit available data sources or a specific structure of the information in order to limit the amount of labeled data required. == Numerical simulation methods for surgical applications == [https://www.simonchatelin.icube.cnrs.fr/ Simon Chatelin] [https://hadrien.courtecuisse.cnrs.fr/ Hadrien Courtecuisse] Jean-Philippe Dillenseger The second major problem we tackle in this theme is the development of numerical simulation methods for surgical applications. A first application of such models is to help the design and modeling of robots. An interesting approach developed in partnership with researchers from the MLMS team is to include real-time finite element simulations within the control loop of a robotic system in order to anticipate environment deformations and interactions. We are also interested in developing biomechanical models of patient-specific features such as soft tissues. These developments are accompanied by the development of methods for the acquisition of multi-scale and patient-specific in vivo physical parameters via biomedical imaging (with a specific focus on elastography using preclinical and clinical MRI and ultrasound methods). Finally, simulations can also drive the training of surgical staff, as shown with the X-aware prototype in which physical radiation models and AI-based 3D pose estimation allow making a clinician aware of his/her full body exposure to x-ray during interventional radiology procedures. == Data sience methods and clinical translation == Alexandros Karargyris Jean-Paul Mazellier Nicolas Padoy Vinkle Srivastav The last axis within this theme concerns transverse methodological research problems in AI, which could be applicable to both computer vision and simulation methods. We aim to tackle key problems towards clinical application of the methods developed in our work. One first key problem is the generalizability problem, i.e. proving that our methods are robust to diverse conditions. To this aim, we develop data augmentation techniques with original synthetic data generation methods. We have recently started working on coupling simulation and AI or computer vision methods in a synergistic fashion. Simulated models can for instance be a source of information to augment available data with semi-synthetic inputs in order to train more realistic AI models without increasing the data gathering and annotation costs. We are also increasingly interested in federated learning approaches, for training models with multi-centric sensitive data. cbe1fe0c78da649aab1cfd64022efb78c1171d76 336 335 2022-10-11T13:55:05Z Npadoy 24 /* Computer vision, object recognition and scene understanding */ wikitext text/x-wiki The Learning, Modelling, and Data Science team brings together researchers in the team who work on artificial intelligence (AI), simulation, and computer vision methods. <div style="position: relative; overflow: hidden; height: 300px;"> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:cvs.png|right|500px|Image-based estimation of the critical view of safety in cholecystectomy]]</div> <div style="position: relative; height: 1%;">[[Image:funsis.png|right|500px|Unsupervised tool segmentation in endoscopic videos]]</div> <div style="position: relative; height: 1%;">[[Image:pose_est.png|right|500px|3D pose estimation in the OR from RGBD cameras]]</div> <div style="position: relative; height: 1%;">[[Image:sperry.png|right|500px|Robotic needle insertion with finite element simulation in the control loop]]</div> <div style="position: relative; height: 1%;">[[Image:us_elasto.png|right|500px|MRI elastography]]</div> <div style="position: relative; height: 1%;">[[Image:veineporte.png|right|500px|Portal vein flow reconstruction from real-time imaging]]</div> <div style="position: relative; height: 1%;">[[Image:xaware.png|right|500px|Physical simulation for radiation exposure estimation in the OR]]</div> </slideshow> </div> </div> == Computer vision, object recognition and scene understanding == [http://habed.weebly.com/ Adlane Habed] Jean-Paul Mazellier [http://camma.u-strasbg.fr/npadoy Nicolas Padoy] [https://sites.google.com/site/benoitrosa Benoit Rosa] Vinkle Srivastav This axis concerns the development of computer vision methods for object recognition, 3D scene understanding and assessment, endoscopic image segmentation, or surgical phase estimation. Optimization methods have been developed for applications such as the autocalibration of cameras or visual odometry. We are interested in building original, robust optimization algorithms, exploiting rich multi-modal information such as semantic maps. In the medical context, a driving theme is the development of a surgical control tower, monitoring events in the operating room. Majors results have been obtained using modern deep learning techniques, for instance regarding the 3D pose estimation of operators in the room, surgical phase estimation, and segmentationor pose estimation of surgical instruments. A limitation of such methods is the need for large, high quality datasets. We are therefore more and more interested in weakly- and self-supervised approaches, which exploit available data sources or a specific structure of the information in order to limit the amount of labeled data required. == Numerical simulation methods for surgical applications == [https://www.simonchatelin.icube.cnrs.fr/ Simon Chatelin] [https://hadrien.courtecuisse.cnrs.fr/ Hadrien Courtecuisse] Jean-Philippe Dillenseger The second major problem we tackle in this theme is the development of numerical simulation methods for surgical applications. A first application of such models is to help the design and modeling of robots. An interesting approach developed in partnership with researchers from the MLMS team is to include real-time finite element simulations within the control loop of a robotic system in order to anticipate environment deformations and interactions. We are also interested in developing biomechanical models of patient-specific features such as soft tissues. These developments are accompanied by the development of methods for the acquisition of multi-scale and patient-specific in vivo physical parameters via biomedical imaging (with a specific focus on elastography using preclinical and clinical MRI and ultrasound methods). Finally, simulations can also drive the training of surgical staff, as shown with the X-aware prototype in which physical radiation models and AI-based 3D pose estimation allow making a clinician aware of his/her full body exposure to x-ray during interventional radiology procedures. == Data sience methods and clinical translation == Alexandros Karargyris Jean-Paul Mazellier Nicolas Padoy Vinkle Srivastav The last axis within this theme concerns transverse methodological research problems in AI, which could be applicable to both computer vision and simulation methods. We aim to tackle key problems towards clinical application of the methods developed in our work. One first key problem is the generalizability problem, i.e. proving that our methods are robust to diverse conditions. To this aim, we develop data augmentation techniques with original synthetic data generation methods. We have recently started working on coupling simulation and AI or computer vision methods in a synergistic fashion. Simulated models can for instance be a source of information to augment available data with semi-synthetic inputs in order to train more realistic AI models without increasing the data gathering and annotation costs. We are also increasingly interested in federated learning approaches, for training models with multi-centric sensitive data. 648797e28460416d6ddca62dba18fcc0e48ca64e 337 336 2022-10-11T13:55:12Z Npadoy 24 /* Data sience methods and clinical translation */ wikitext text/x-wiki The Learning, Modelling, and Data Science team brings together researchers in the team who work on artificial intelligence (AI), simulation, and computer vision methods. <div style="position: relative; overflow: hidden; height: 300px;"> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:cvs.png|right|500px|Image-based estimation of the critical view of safety in cholecystectomy]]</div> <div style="position: relative; height: 1%;">[[Image:funsis.png|right|500px|Unsupervised tool segmentation in endoscopic videos]]</div> <div style="position: relative; height: 1%;">[[Image:pose_est.png|right|500px|3D pose estimation in the OR from RGBD cameras]]</div> <div style="position: relative; height: 1%;">[[Image:sperry.png|right|500px|Robotic needle insertion with finite element simulation in the control loop]]</div> <div style="position: relative; height: 1%;">[[Image:us_elasto.png|right|500px|MRI elastography]]</div> <div style="position: relative; height: 1%;">[[Image:veineporte.png|right|500px|Portal vein flow reconstruction from real-time imaging]]</div> <div style="position: relative; height: 1%;">[[Image:xaware.png|right|500px|Physical simulation for radiation exposure estimation in the OR]]</div> </slideshow> </div> </div> == Computer vision, object recognition and scene understanding == [http://habed.weebly.com/ Adlane Habed] Jean-Paul Mazellier [http://camma.u-strasbg.fr/npadoy Nicolas Padoy] [https://sites.google.com/site/benoitrosa Benoit Rosa] Vinkle Srivastav This axis concerns the development of computer vision methods for object recognition, 3D scene understanding and assessment, endoscopic image segmentation, or surgical phase estimation. Optimization methods have been developed for applications such as the autocalibration of cameras or visual odometry. We are interested in building original, robust optimization algorithms, exploiting rich multi-modal information such as semantic maps. In the medical context, a driving theme is the development of a surgical control tower, monitoring events in the operating room. Majors results have been obtained using modern deep learning techniques, for instance regarding the 3D pose estimation of operators in the room, surgical phase estimation, and segmentationor pose estimation of surgical instruments. A limitation of such methods is the need for large, high quality datasets. We are therefore more and more interested in weakly- and self-supervised approaches, which exploit available data sources or a specific structure of the information in order to limit the amount of labeled data required. == Numerical simulation methods for surgical applications == [https://www.simonchatelin.icube.cnrs.fr/ Simon Chatelin] [https://hadrien.courtecuisse.cnrs.fr/ Hadrien Courtecuisse] Jean-Philippe Dillenseger The second major problem we tackle in this theme is the development of numerical simulation methods for surgical applications. A first application of such models is to help the design and modeling of robots. An interesting approach developed in partnership with researchers from the MLMS team is to include real-time finite element simulations within the control loop of a robotic system in order to anticipate environment deformations and interactions. We are also interested in developing biomechanical models of patient-specific features such as soft tissues. These developments are accompanied by the development of methods for the acquisition of multi-scale and patient-specific in vivo physical parameters via biomedical imaging (with a specific focus on elastography using preclinical and clinical MRI and ultrasound methods). Finally, simulations can also drive the training of surgical staff, as shown with the X-aware prototype in which physical radiation models and AI-based 3D pose estimation allow making a clinician aware of his/her full body exposure to x-ray during interventional radiology procedures. == Data sience methods and clinical translation == Alexandros Karargyris Jean-Paul Mazellier [http://camma.u-strasbg.fr/npadoy Nicolas Padoy] Vinkle Srivastav The last axis within this theme concerns transverse methodological research problems in AI, which could be applicable to both computer vision and simulation methods. We aim to tackle key problems towards clinical application of the methods developed in our work. One first key problem is the generalizability problem, i.e. proving that our methods are robust to diverse conditions. To this aim, we develop data augmentation techniques with original synthetic data generation methods. We have recently started working on coupling simulation and AI or computer vision methods in a synergistic fashion. Simulated models can for instance be a source of information to augment available data with semi-synthetic inputs in order to train more realistic AI models without increasing the data gathering and annotation costs. We are also increasingly interested in federated learning approaches, for training models with multi-centric sensitive data. ce695d6845a994e68b269ce440aeba48d25de8e7 6 65 338 2022-10-14T19:32:53Z Jvappou 10 wikitext text/x-wiki MRI guided HIFU device a1e4621c9e06082adcf32c8fb1b77aeba82a777c 6 66 339 2022-10-14T19:35:51Z Jvappou 10 wikitext text/x-wiki MRguided HIFU 4e08999a78326210ee10dd606b04591ff630b556 0 47 340 235 2022-10-14T19:36:28Z Jvappou 10 wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. Laurence Meylheuc, [mailto:laurence.meylheuc@insa-strasbourg.fr laurence.meylheuc(at)insa-strasbourg.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] Julien Garnon, [mailto:julien.garnon@chru-strasbourg.fr julien.garnon(at)chru-strasbourg.fr] == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ Pierre Renaud, [mailto:pierre.renaud@insa-strasbourg.fr pierre.renaud(at)insa-strasbourg.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr lennart.rubbert(at)insa-strasbourg.fr] Francois Geiskopf [mailto:francois.geiskopf@insa-strasbourg.fr francois.geiskopf(at)insa-strasbourg.fr] Laurent Barbé, [mailto:barbe@unistra.fr barbe(at)unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. Florent Nageotte, [mailto:nageotte@unistra.fr nageotte(at)unistra.fr] Philippe Zanne, [mailto:zanne.philippe@unistra.fr zanne.philippe@unistra.fr] Benoit Rosa, [mailto:b.rosa@unistra.fr b.rosa(at)unistra.fr] ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. Elodie Breton, [mailto:ebreton@unistra.fr ebreton(at)unistra.fr] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] [[File:UFOGUIDE.jpg|thumb]] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] Paolo Cabras, [mailto:cabras@unistra.fr cabras(at)unistra.fr] a6be6a69d52443e8f700f5e4a517783d321669f8 6 67 343 2022-10-19T12:43:51Z Bernard.bayle 5 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 6 68 345 2022-10-19T12:49:46Z Bernard.bayle 5 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 6 69 348 2022-10-19T12:53:54Z Bernard.bayle 5 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 6 70 350 2022-10-19T12:58:04Z Bernard.bayle 5 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 6 70 354 350 2022-10-19T13:04:55Z Bernard.bayle 5 Bernard.bayle uploaded a new version of [[File:Cemento.jpg]] wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 0 7 355 353 2022-10-19T13:06:11Z Bernard.bayle 5 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 1000px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. It emphasizes research recognized at the best international level, in particular in medical robotics and data science for health: * '''[[Medical Robotics and Interventional Imaging]]''' gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''[[Learning, Modelling and Data Science]]''' gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''[[Complex Systems and Parsimony|Complex systems and parsimony]]''' gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow transition="fade" refresh="2000" center="true"> <div>[[Image:2022_rdh_porfolio.jpg|400px|Caption 2|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:Cementobis.jpg|500px|Caption 1|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:ICube_AVR_IRM_authorLcuvillon_Credit_F.Maigrot_and_Ircad.jpg|400px|Caption 2|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:Im3.jpg.jpg|400px|Caption 2|link=Learning, Modelling and Data Science]]</div> <div>[[Image:cvs.png|400px|Image-based estimation of the critical view of safety in cholecystectomy|link=Learning, Modelling and Data Science]]</div> <div>[[Image:sperry.png|400px|Robotic needle insertion with finite element simulation in the control loop|link=Learning, Modelling and Data Science]]</div> <div>[[Image:Im4_t3.jpg|300px|Climatology Drone|link=Complex Systems and Parsimony]]</div> <div>[[Image:Im6_t3.jpg|300px|Street Art Drone|link=Complex Systems and Parsimony]]</div> </slideshow> </div> </div> c2e3e8c0f1a1c01e1c2b1a747ee4088bc50ef62c 357 355 2022-10-19T13:08:45Z Bernard.bayle 5 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 1000px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. It emphasizes research recognized at the best international level, in particular in medical robotics and data science for health: * '''[[Medical Robotics and Interventional Imaging]]''' gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''[[Learning, Modelling and Data Science]]''' gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''[[Complex Systems and Parsimony|Complex systems and parsimony]]''' gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow transition="fade" refresh="2000" center="true"> <div>[[Image:2022_rdh_porfolio.jpg|400px|Caption 2|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:Cemento_bis.jpg|500px|Caption 1|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:ICube_AVR_IRM_authorLcuvillon_Credit_F.Maigrot_and_Ircad.jpg|400px|Caption 2|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:Im3.jpg.jpg|400px|Caption 2|link=Learning, Modelling and Data Science]]</div> <div>[[Image:cvs.png|400px|Image-based estimation of the critical view of safety in cholecystectomy|link=Learning, Modelling and Data Science]]</div> <div>[[Image:sperry.png|400px|Robotic needle insertion with finite element simulation in the control loop|link=Learning, Modelling and Data Science]]</div> <div>[[Image:Im4_t3.jpg|300px|Climatology Drone|link=Complex Systems and Parsimony]]</div> <div>[[Image:Im6_t3.jpg|300px|Street Art Drone|link=Complex Systems and Parsimony]]</div> </slideshow> </div> </div> d06ca2824be761a95f1bd194541d80965457aab2 394 357 2022-11-11T22:03:05Z Lrubbert 27 wikitext text/x-wiki <div style="position: relative; overflow: hidden; height: 1000px;"><!-- RECOMMENDED THIS HEIGHT IS THE SAME AS THE HEIGHT SET FOR THE IMAGES --> {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} The three scientific themes of the team highlight its interdisciplinarity, and allow reflecting the variety of disciplines that interact within the team. It emphasizes research recognized at the best international level, in particular in medical robotics and data science for health: * '''[[Medical Robotics and Interventional Imaging]]''' gathers the historical activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures, and, beyond, around methodological and clinical developments in interventional radiology. * '''[[Learning, Modelling and Data Science]]''' gathers the activities of the team around artificial intelligence (AI), biomechanical simulation and measurement and evaluation methods, pursued both independently and in synergy, as simulation can be used to generate data for learning. * '''[[Complex Systems and Parsimony|Complex systems and parsimony]]''' gathers activities around the control of complex systems, with an evolution over the period aiming at taking into account parsimony as an issue for the control but also for the mechatronics design of robots. <div id="wrapper"> <slideshow transition="fade" refresh="3000" center="true"> <div>[[Image:2022_rdh_porfolio.jpg|400px|Caption 2|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:Cemento_bis.jpg|500px|Caption 1|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:ICube_AVR_IRM_authorLcuvillon_Credit_F.Maigrot_and_Ircad.jpg|400px|Caption 2|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:ARC_CR.png|450px|ARC needle|link=Medical Robotics and Interventional Imaging]]</div> <div>[[Image:Im3.jpg.jpg|400px|Caption 2|link=Learning, Modelling and Data Science]]</div> <div>[[Image:cvs.png|400px|Image-based estimation of the critical view of safety in cholecystectomy|link=Learning, Modelling and Data Science]]</div> <div>[[Image:sperry.png|400px|Robotic needle insertion with finite element simulation in the control loop|link=Learning, Modelling and Data Science]]</div> <div>[[Image:Im4_t3.jpg|300px|Climatology Drone|link=Complex Systems and Parsimony]]</div> <div>[[Image:Im6_t3.jpg|300px|Street Art Drone|link=Complex Systems and Parsimony]]</div> </slideshow> </div> </div> a8aa33f53ee7feb53366535e12f5f90acc2811ba 6 71 356 2022-10-19T13:08:28Z Bernard.bayle 5 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 0 47 358 340 2022-10-19T13:14:17Z Bernard.bayle 5 /* Robot-aided Cementoplasty in interventional radiology */ wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. [[Image:Cemento.jpg.png|thumb|left|500px|Vertebroplasty]] Laurence Meylheuc, [mailto:laurence.meylheuc@insa-strasbourg.fr laurence.meylheuc(at)insa-strasbourg.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] Julien Garnon, [mailto:julien.garnon@chru-strasbourg.fr julien.garnon(at)chru-strasbourg.fr] == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ Pierre Renaud, [mailto:pierre.renaud@insa-strasbourg.fr pierre.renaud(at)insa-strasbourg.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr lennart.rubbert(at)insa-strasbourg.fr] Francois Geiskopf [mailto:francois.geiskopf@insa-strasbourg.fr francois.geiskopf(at)insa-strasbourg.fr] Laurent Barbé, [mailto:barbe@unistra.fr barbe(at)unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. Florent Nageotte, [mailto:nageotte@unistra.fr nageotte(at)unistra.fr] Philippe Zanne, [mailto:zanne.philippe@unistra.fr zanne.philippe@unistra.fr] Benoit Rosa, [mailto:b.rosa@unistra.fr b.rosa(at)unistra.fr] ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. Elodie Breton, [mailto:ebreton@unistra.fr ebreton(at)unistra.fr] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] [[File:UFOGUIDE.jpg|thumb]] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] Paolo Cabras, [mailto:cabras@unistra.fr cabras(at)unistra.fr] ed25618a59123c5e4490044c12c3662d6be12746 359 358 2022-10-19T13:14:29Z Bernard.bayle 5 /* Robot-aided Cementoplasty in interventional radiology */ wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. [[Image:Cemento.jpg|thumb|left|500px|Vertebroplasty]] Laurence Meylheuc, [mailto:laurence.meylheuc@insa-strasbourg.fr laurence.meylheuc(at)insa-strasbourg.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] Julien Garnon, [mailto:julien.garnon@chru-strasbourg.fr julien.garnon(at)chru-strasbourg.fr] == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ Pierre Renaud, [mailto:pierre.renaud@insa-strasbourg.fr pierre.renaud(at)insa-strasbourg.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr lennart.rubbert(at)insa-strasbourg.fr] Francois Geiskopf [mailto:francois.geiskopf@insa-strasbourg.fr francois.geiskopf(at)insa-strasbourg.fr] Laurent Barbé, [mailto:barbe@unistra.fr barbe(at)unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. Florent Nageotte, [mailto:nageotte@unistra.fr nageotte(at)unistra.fr] Philippe Zanne, [mailto:zanne.philippe@unistra.fr zanne.philippe@unistra.fr] Benoit Rosa, [mailto:b.rosa@unistra.fr b.rosa(at)unistra.fr] ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. Elodie Breton, [mailto:ebreton@unistra.fr ebreton(at)unistra.fr] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] [[File:UFOGUIDE.jpg|thumb]] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] Paolo Cabras, [mailto:cabras@unistra.fr cabras(at)unistra.fr] a2a6d931d1deff4b336af7dc9ac910c36926d5d9 360 359 2022-10-19T13:15:54Z Bernard.bayle 5 /* Robot-aided Cementoplasty in interventional radiology */ wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. [[Image:Cemento.jpg|thumb|center|500px|Vertebroplasty]] <br style="clear: both" /> Laurence Meylheuc, [mailto:laurence.meylheuc@insa-strasbourg.fr laurence.meylheuc(at)insa-strasbourg.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] Julien Garnon, [mailto:julien.garnon@chru-strasbourg.fr julien.garnon(at)chru-strasbourg.fr] == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ Pierre Renaud, [mailto:pierre.renaud@insa-strasbourg.fr pierre.renaud(at)insa-strasbourg.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr lennart.rubbert(at)insa-strasbourg.fr] Francois Geiskopf [mailto:francois.geiskopf@insa-strasbourg.fr francois.geiskopf(at)insa-strasbourg.fr] Laurent Barbé, [mailto:barbe@unistra.fr barbe(at)unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. Florent Nageotte, [mailto:nageotte@unistra.fr nageotte(at)unistra.fr] Philippe Zanne, [mailto:zanne.philippe@unistra.fr zanne.philippe@unistra.fr] Benoit Rosa, [mailto:b.rosa@unistra.fr b.rosa(at)unistra.fr] ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. Elodie Breton, [mailto:ebreton@unistra.fr ebreton(at)unistra.fr] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] [[File:UFOGUIDE.jpg|thumb]] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] Paolo Cabras, [mailto:cabras@unistra.fr cabras(at)unistra.fr] 60b9a9e590d2c2af41f2d15576ff86d52d400639 361 360 2022-10-19T13:17:40Z Bernard.bayle 5 /* Teleoperated robot-assisted flexible endoscopic surgery */ wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. [[Image:Cemento.jpg|thumb|center|500px|Vertebroplasty]] <br style="clear: both" /> Laurence Meylheuc, [mailto:laurence.meylheuc@insa-strasbourg.fr laurence.meylheuc(at)insa-strasbourg.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] Julien Garnon, [mailto:julien.garnon@chru-strasbourg.fr julien.garnon(at)chru-strasbourg.fr] == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ Pierre Renaud, [mailto:pierre.renaud@insa-strasbourg.fr pierre.renaud(at)insa-strasbourg.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr lennart.rubbert(at)insa-strasbourg.fr] Francois Geiskopf [mailto:francois.geiskopf@insa-strasbourg.fr francois.geiskopf(at)insa-strasbourg.fr] Laurent Barbé, [mailto:barbe@unistra.fr barbe(at)unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. [[Image:ease.png|thumb|center|350px|Vertebroplasty]] <br style="clear: both" /> Florent Nageotte, [mailto:nageotte@unistra.fr nageotte(at)unistra.fr] Philippe Zanne, [mailto:zanne.philippe@unistra.fr zanne.philippe@unistra.fr] Benoit Rosa, [mailto:b.rosa@unistra.fr b.rosa(at)unistra.fr] ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. Elodie Breton, [mailto:ebreton@unistra.fr ebreton(at)unistra.fr] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] [[File:UFOGUIDE.jpg|thumb]] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] Paolo Cabras, [mailto:cabras@unistra.fr cabras(at)unistra.fr] 6ebb259a08f479290c9c6f0b3fd73d02ef8e9c83 363 361 2022-10-19T13:18:29Z Bernard.bayle 5 /* Teleoperated robot-assisted flexible endoscopic surgery */ wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. [[Image:Cemento.jpg|thumb|center|500px|Vertebroplasty]] <br style="clear: both" /> Laurence Meylheuc, [mailto:laurence.meylheuc@insa-strasbourg.fr laurence.meylheuc(at)insa-strasbourg.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] Julien Garnon, [mailto:julien.garnon@chru-strasbourg.fr julien.garnon(at)chru-strasbourg.fr] == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ Pierre Renaud, [mailto:pierre.renaud@insa-strasbourg.fr pierre.renaud(at)insa-strasbourg.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr lennart.rubbert(at)insa-strasbourg.fr] Francois Geiskopf [mailto:francois.geiskopf@insa-strasbourg.fr francois.geiskopf(at)insa-strasbourg.fr] Laurent Barbé, [mailto:barbe@unistra.fr barbe(at)unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. [[File:ease.png|thumb|center|350px|Vertebroplasty]] <br style="clear: both" /> Florent Nageotte, [mailto:nageotte@unistra.fr nageotte(at)unistra.fr] Philippe Zanne, [mailto:zanne.philippe@unistra.fr zanne.philippe@unistra.fr] Benoit Rosa, [mailto:b.rosa@unistra.fr b.rosa(at)unistra.fr] ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. Elodie Breton, [mailto:ebreton@unistra.fr ebreton(at)unistra.fr] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] [[File:UFOGUIDE.jpg|thumb]] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] Paolo Cabras, [mailto:cabras@unistra.fr cabras(at)unistra.fr] d53279c2a24dda325b295277545cf7b71ae18b76 364 363 2022-10-19T13:18:48Z Bernard.bayle 5 /* Teleoperated robot-assisted flexible endoscopic surgery */ wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. [[Image:Cemento.jpg|thumb|center|500px|Vertebroplasty]] <br style="clear: both" /> Laurence Meylheuc, [mailto:laurence.meylheuc@insa-strasbourg.fr laurence.meylheuc(at)insa-strasbourg.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] Julien Garnon, [mailto:julien.garnon@chru-strasbourg.fr julien.garnon(at)chru-strasbourg.fr] == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ Pierre Renaud, [mailto:pierre.renaud@insa-strasbourg.fr pierre.renaud(at)insa-strasbourg.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr lennart.rubbert(at)insa-strasbourg.fr] Francois Geiskopf [mailto:francois.geiskopf@insa-strasbourg.fr francois.geiskopf(at)insa-strasbourg.fr] Laurent Barbé, [mailto:barbe@unistra.fr barbe(at)unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. [[File:ease.png|thumb|center|350px|EASE project]] <br style="clear: both" /> Florent Nageotte, [mailto:nageotte@unistra.fr nageotte(at)unistra.fr] Philippe Zanne, [mailto:zanne.philippe@unistra.fr zanne.philippe@unistra.fr] Benoit Rosa, [mailto:b.rosa@unistra.fr b.rosa(at)unistra.fr] ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. Elodie Breton, [mailto:ebreton@unistra.fr ebreton(at)unistra.fr] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] [[File:UFOGUIDE.jpg|thumb]] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] Paolo Cabras, [mailto:cabras@unistra.fr cabras(at)unistra.fr] 708aecadc066f773c44013baa68dfc7bad4dc764 365 364 2022-10-19T13:19:00Z Bernard.bayle 5 /* Robot-aided Cementoplasty in interventional radiology */ wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. [[Image:Cemento.jpg|thumb|center|400px|Vertebroplasty]] <br style="clear: both" /> Laurence Meylheuc, [mailto:laurence.meylheuc@insa-strasbourg.fr laurence.meylheuc(at)insa-strasbourg.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] Julien Garnon, [mailto:julien.garnon@chru-strasbourg.fr julien.garnon(at)chru-strasbourg.fr] == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ Pierre Renaud, [mailto:pierre.renaud@insa-strasbourg.fr pierre.renaud(at)insa-strasbourg.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr lennart.rubbert(at)insa-strasbourg.fr] Francois Geiskopf [mailto:francois.geiskopf@insa-strasbourg.fr francois.geiskopf(at)insa-strasbourg.fr] Laurent Barbé, [mailto:barbe@unistra.fr barbe(at)unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. [[File:ease.png|thumb|center|350px|EASE project]] <br style="clear: both" /> Florent Nageotte, [mailto:nageotte@unistra.fr nageotte(at)unistra.fr] Philippe Zanne, [mailto:zanne.philippe@unistra.fr zanne.philippe@unistra.fr] Benoit Rosa, [mailto:b.rosa@unistra.fr b.rosa(at)unistra.fr] ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. Elodie Breton, [mailto:ebreton@unistra.fr ebreton(at)unistra.fr] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] [[File:UFOGUIDE.jpg|thumb]] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] Paolo Cabras, [mailto:cabras@unistra.fr cabras(at)unistra.fr] 38de21223a6cd7d4a31092bbb39c80ee58d97d52 366 365 2022-10-19T13:19:19Z Bernard.bayle 5 /* Therapeutic Ultrasound */ wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. [[Image:Cemento.jpg|thumb|center|400px|Vertebroplasty]] <br style="clear: both" /> Laurence Meylheuc, [mailto:laurence.meylheuc@insa-strasbourg.fr laurence.meylheuc(at)insa-strasbourg.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] Julien Garnon, [mailto:julien.garnon@chru-strasbourg.fr julien.garnon(at)chru-strasbourg.fr] == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ Pierre Renaud, [mailto:pierre.renaud@insa-strasbourg.fr pierre.renaud(at)insa-strasbourg.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr lennart.rubbert(at)insa-strasbourg.fr] Francois Geiskopf [mailto:francois.geiskopf@insa-strasbourg.fr francois.geiskopf(at)insa-strasbourg.fr] Laurent Barbé, [mailto:barbe@unistra.fr barbe(at)unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. [[File:ease.png|thumb|center|350px|EASE project]] <br style="clear: both" /> Florent Nageotte, [mailto:nageotte@unistra.fr nageotte(at)unistra.fr] Philippe Zanne, [mailto:zanne.philippe@unistra.fr zanne.philippe@unistra.fr] Benoit Rosa, [mailto:b.rosa@unistra.fr b.rosa(at)unistra.fr] ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. Elodie Breton, [mailto:ebreton@unistra.fr ebreton(at)unistra.fr] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] [[File:UFOGUIDE.jpg|thumb]] <br style="clear: both" /> Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] Paolo Cabras, [mailto:cabras@unistra.fr cabras(at)unistra.fr] 24b2e9123f91eef6bcdbacfe1ac074b33031bd34 367 366 2022-10-19T13:19:40Z Bernard.bayle 5 /* Therapeutic Ultrasound */ wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. [[Image:Cemento.jpg|thumb|center|400px|Vertebroplasty]] <br style="clear: both" /> Laurence Meylheuc, [mailto:laurence.meylheuc@insa-strasbourg.fr laurence.meylheuc(at)insa-strasbourg.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] Julien Garnon, [mailto:julien.garnon@chru-strasbourg.fr julien.garnon(at)chru-strasbourg.fr] == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ Pierre Renaud, [mailto:pierre.renaud@insa-strasbourg.fr pierre.renaud(at)insa-strasbourg.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr lennart.rubbert(at)insa-strasbourg.fr] Francois Geiskopf [mailto:francois.geiskopf@insa-strasbourg.fr francois.geiskopf(at)insa-strasbourg.fr] Laurent Barbé, [mailto:barbe@unistra.fr barbe(at)unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. [[File:ease.png|thumb|center|350px|EASE project]] <br style="clear: both" /> Florent Nageotte, [mailto:nageotte@unistra.fr nageotte(at)unistra.fr] Philippe Zanne, [mailto:zanne.philippe@unistra.fr zanne.philippe@unistra.fr] Benoit Rosa, [mailto:b.rosa@unistra.fr b.rosa(at)unistra.fr] ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. Elodie Breton, [mailto:ebreton@unistra.fr ebreton(at)unistra.fr] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] [[File:UFOGUIDE.jpg|center|thumb]] <br style="clear: both" /> Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] Paolo Cabras, [mailto:cabras@unistra.fr cabras(at)unistra.fr] 8a5df4fedd4cf9b8cdee5c4938000e55ce9c2774 368 367 2022-10-19T13:21:03Z Bernard.bayle 5 /* Therapeutic Ultrasound */ wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. [[Image:Cemento.jpg|thumb|center|400px|Vertebroplasty]] <br style="clear: both" /> Laurence Meylheuc, [mailto:laurence.meylheuc@insa-strasbourg.fr laurence.meylheuc(at)insa-strasbourg.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] Julien Garnon, [mailto:julien.garnon@chru-strasbourg.fr julien.garnon(at)chru-strasbourg.fr] == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ Pierre Renaud, [mailto:pierre.renaud@insa-strasbourg.fr pierre.renaud(at)insa-strasbourg.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr lennart.rubbert(at)insa-strasbourg.fr] Francois Geiskopf [mailto:francois.geiskopf@insa-strasbourg.fr francois.geiskopf(at)insa-strasbourg.fr] Laurent Barbé, [mailto:barbe@unistra.fr barbe(at)unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. [[File:ease.png|thumb|center|350px|EASE project]] <br style="clear: both" /> Florent Nageotte, [mailto:nageotte@unistra.fr nageotte(at)unistra.fr] Philippe Zanne, [mailto:zanne.philippe@unistra.fr zanne.philippe@unistra.fr] Benoit Rosa, [mailto:b.rosa@unistra.fr b.rosa(at)unistra.fr] ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. Elodie Breton, [mailto:ebreton@unistra.fr ebreton(at)unistra.fr] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] [[File:UFOGUIDE.jpg|center|thumb]] <br /> Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] Paolo Cabras, [mailto:cabras@unistra.fr cabras(at)unistra.fr] 94e53b727772fcb6ad56f381ba30e1aa80771456 369 368 2022-10-19T13:21:27Z Bernard.bayle 5 /* Robot-aided Cementoplasty in interventional radiology */ wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. [[Image:Cemento.jpg|thumb|center|400px|Vertebroplasty]] <br style="clear: " /> Laurence Meylheuc, [mailto:laurence.meylheuc@insa-strasbourg.fr laurence.meylheuc(at)insa-strasbourg.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] Julien Garnon, [mailto:julien.garnon@chru-strasbourg.fr julien.garnon(at)chru-strasbourg.fr] == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ Pierre Renaud, [mailto:pierre.renaud@insa-strasbourg.fr pierre.renaud(at)insa-strasbourg.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr lennart.rubbert(at)insa-strasbourg.fr] Francois Geiskopf [mailto:francois.geiskopf@insa-strasbourg.fr francois.geiskopf(at)insa-strasbourg.fr] Laurent Barbé, [mailto:barbe@unistra.fr barbe(at)unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. [[File:ease.png|thumb|center|350px|EASE project]] <br style="clear: both" /> Florent Nageotte, [mailto:nageotte@unistra.fr nageotte(at)unistra.fr] Philippe Zanne, [mailto:zanne.philippe@unistra.fr zanne.philippe@unistra.fr] Benoit Rosa, [mailto:b.rosa@unistra.fr b.rosa(at)unistra.fr] ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. Elodie Breton, [mailto:ebreton@unistra.fr ebreton(at)unistra.fr] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] [[File:UFOGUIDE.jpg|center|thumb]] <br /> Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] Paolo Cabras, [mailto:cabras@unistra.fr cabras(at)unistra.fr] 3eaa7da258beb0110c510f8267b7298d2b0ac5db 370 369 2022-10-19T13:22:04Z Bernard.bayle 5 /* Therapeutic Ultrasound */ wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. [[Image:Cemento.jpg|thumb|center|400px|Vertebroplasty]] <br style="clear: " /> Laurence Meylheuc, [mailto:laurence.meylheuc@insa-strasbourg.fr laurence.meylheuc(at)insa-strasbourg.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] Julien Garnon, [mailto:julien.garnon@chru-strasbourg.fr julien.garnon(at)chru-strasbourg.fr] == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ Pierre Renaud, [mailto:pierre.renaud@insa-strasbourg.fr pierre.renaud(at)insa-strasbourg.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr lennart.rubbert(at)insa-strasbourg.fr] Francois Geiskopf [mailto:francois.geiskopf@insa-strasbourg.fr francois.geiskopf(at)insa-strasbourg.fr] Laurent Barbé, [mailto:barbe@unistra.fr barbe(at)unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. [[File:ease.png|thumb|center|350px|EASE project]] <br style="clear: both" /> Florent Nageotte, [mailto:nageotte@unistra.fr nageotte(at)unistra.fr] Philippe Zanne, [mailto:zanne.philippe@unistra.fr zanne.philippe@unistra.fr] Benoit Rosa, [mailto:b.rosa@unistra.fr b.rosa(at)unistra.fr] ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. Elodie Breton, [mailto:ebreton@unistra.fr ebreton(at)unistra.fr] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] [[File:UFOGUIDE.jpg|center|thumb]] <br style="clear: " /> Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] Paolo Cabras, [mailto:cabras@unistra.fr cabras(at)unistra.fr] 8e5540fca0b87d28c831ef69d02738b93846ad0e 371 370 2022-10-19T13:22:58Z Bernard.bayle 5 /* Therapeutic Ultrasound */ wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. [[Image:Cemento.jpg|thumb|center|400px|Vertebroplasty]] <br style="clear: " /> Laurence Meylheuc, [mailto:laurence.meylheuc@insa-strasbourg.fr laurence.meylheuc(at)insa-strasbourg.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] Julien Garnon, [mailto:julien.garnon@chru-strasbourg.fr julien.garnon(at)chru-strasbourg.fr] == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ Pierre Renaud, [mailto:pierre.renaud@insa-strasbourg.fr pierre.renaud(at)insa-strasbourg.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr lennart.rubbert(at)insa-strasbourg.fr] Francois Geiskopf [mailto:francois.geiskopf@insa-strasbourg.fr francois.geiskopf(at)insa-strasbourg.fr] Laurent Barbé, [mailto:barbe@unistra.fr barbe(at)unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. [[File:ease.png|thumb|center|350px|EASE project]] <br style="clear: both" /> Florent Nageotte, [mailto:nageotte@unistra.fr nageotte(at)unistra.fr] Philippe Zanne, [mailto:zanne.philippe@unistra.fr zanne.philippe@unistra.fr] Benoit Rosa, [mailto:b.rosa@unistra.fr b.rosa(at)unistra.fr] ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. Elodie Breton, [mailto:ebreton@unistra.fr ebreton(at)unistra.fr] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] [[File:UFOGUIDE.jpg|center|thumb]] <br style="clear: " /> Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] Paolo Cabras, [mailto:cabras@unistra.fr cabras(at)unistra.fr] d82345fd384aa3fb5158605d55c82e18ef7b07fc 373 371 2022-10-19T13:24:46Z Bernard.bayle 5 /* Therapeutic Ultrasound */ wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. [[Image:Cemento.jpg|thumb|center|400px|Vertebroplasty]] <br style="clear: " /> Laurence Meylheuc, [mailto:laurence.meylheuc@insa-strasbourg.fr laurence.meylheuc(at)insa-strasbourg.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] Julien Garnon, [mailto:julien.garnon@chru-strasbourg.fr julien.garnon(at)chru-strasbourg.fr] == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ Pierre Renaud, [mailto:pierre.renaud@insa-strasbourg.fr pierre.renaud(at)insa-strasbourg.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr lennart.rubbert(at)insa-strasbourg.fr] Francois Geiskopf [mailto:francois.geiskopf@insa-strasbourg.fr francois.geiskopf(at)insa-strasbourg.fr] Laurent Barbé, [mailto:barbe@unistra.fr barbe(at)unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. [[File:ease.png|thumb|center|350px|EASE project]] <br style="clear: both" /> Florent Nageotte, [mailto:nageotte@unistra.fr nageotte(at)unistra.fr] Philippe Zanne, [mailto:zanne.philippe@unistra.fr zanne.philippe@unistra.fr] Benoit Rosa, [mailto:b.rosa@unistra.fr b.rosa(at)unistra.fr] ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. Elodie Breton, [mailto:ebreton@unistra.fr ebreton(at)unistra.fr] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] [[File:Hifu.png|center|450px|thumb]] <br style="clear: " /> Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] Paolo Cabras, [mailto:cabras@unistra.fr cabras(at)unistra.fr] 444e420e4051e141fd25bddaf85948d487a88274 374 373 2022-10-19T13:25:12Z Bernard.bayle 5 /* Therapeutic Ultrasound */ wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. [[Image:Cemento.jpg|thumb|center|400px|Vertebroplasty]] <br style="clear: " /> Laurence Meylheuc, [mailto:laurence.meylheuc@insa-strasbourg.fr laurence.meylheuc(at)insa-strasbourg.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] Julien Garnon, [mailto:julien.garnon@chru-strasbourg.fr julien.garnon(at)chru-strasbourg.fr] == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ Pierre Renaud, [mailto:pierre.renaud@insa-strasbourg.fr pierre.renaud(at)insa-strasbourg.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr lennart.rubbert(at)insa-strasbourg.fr] Francois Geiskopf [mailto:francois.geiskopf@insa-strasbourg.fr francois.geiskopf(at)insa-strasbourg.fr] Laurent Barbé, [mailto:barbe@unistra.fr barbe(at)unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. [[File:ease.png|thumb|center|350px|EASE project]] <br style="clear: both" /> Florent Nageotte, [mailto:nageotte@unistra.fr nageotte(at)unistra.fr] Philippe Zanne, [mailto:zanne.philippe@unistra.fr zanne.philippe@unistra.fr] Benoit Rosa, [mailto:b.rosa@unistra.fr b.rosa(at)unistra.fr] ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. Elodie Breton, [mailto:ebreton@unistra.fr ebreton(at)unistra.fr] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] [[File:Hifu.png|center|400px|thumb]] <br style="clear: " /> Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] Paolo Cabras, [mailto:cabras@unistra.fr cabras(at)unistra.fr] 7283406153cc953acc63d7ffa0e286d53887a840 383 374 2022-11-04T13:46:57Z B.rosa 6 /* Teleoperated robot-assisted flexible endoscopic surgery */ wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. [[Image:Cemento.jpg|thumb|center|400px|Vertebroplasty]] <br style="clear: " /> Laurence Meylheuc, [mailto:laurence.meylheuc@insa-strasbourg.fr laurence.meylheuc(at)insa-strasbourg.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] Julien Garnon, [mailto:julien.garnon@chru-strasbourg.fr julien.garnon(at)chru-strasbourg.fr] == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. ARC project Website: https://arc-needle.carrd.co/ Pierre Renaud, [mailto:pierre.renaud@insa-strasbourg.fr pierre.renaud(at)insa-strasbourg.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr lennart.rubbert(at)insa-strasbourg.fr] Francois Geiskopf [mailto:francois.geiskopf@insa-strasbourg.fr francois.geiskopf(at)insa-strasbourg.fr] Laurent Barbé, [mailto:barbe@unistra.fr barbe(at)unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. [[File:ease.png|thumb|center|350px|EASE project]] <br style="clear: both" /> Florent Nageotte, [mailto:nageotte@unistra.fr nageotte(at)unistra.fr] Philippe Zanne, [mailto:zanne.philippe@unistra.fr zanne.philippe@unistra.fr] [https://sites.google.com/site/benoitrosa Benoit Rosa] ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. Elodie Breton, [mailto:ebreton@unistra.fr ebreton(at)unistra.fr] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] [[File:Hifu.png|center|400px|thumb]] <br style="clear: " /> Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] Paolo Cabras, [mailto:cabras@unistra.fr cabras(at)unistra.fr] ccb223444be3e38a9aefc881a8cc586214356650 390 383 2022-11-11T21:47:35Z Lrubbert 27 wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. [[Image:Cemento.jpg|thumb|center|400px|Vertebroplasty]] <br style="clear: " /> Laurence Meylheuc, [mailto:laurence.meylheuc@insa-strasbourg.fr laurence.meylheuc(at)insa-strasbourg.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] Julien Garnon, [mailto:julien.garnon@chru-strasbourg.fr julien.garnon(at)chru-strasbourg.fr] == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. <embedvideo service="youtube" dimensions="300" alignment="center">https://www.youtube.com/watch?v=g-Xs7wQBEbQ</embedvideo> ARC project Website: https://arc-needle.carrd.co/ Pierre Renaud, [mailto:pierre.renaud@insa-strasbourg.fr pierre.renaud(at)insa-strasbourg.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr lennart.rubbert(at)insa-strasbourg.fr] Francois Geiskopf [mailto:francois.geiskopf@insa-strasbourg.fr francois.geiskopf(at)insa-strasbourg.fr] Laurent Barbé, [mailto:barbe@unistra.fr barbe(at)unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. [[File:ease.png|thumb|center|350px|EASE project]] <br style="clear: both" /> Florent Nageotte, [mailto:nageotte@unistra.fr nageotte(at)unistra.fr] Philippe Zanne, [mailto:zanne.philippe@unistra.fr zanne.philippe@unistra.fr] [https://sites.google.com/site/benoitrosa Benoit Rosa] ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. Elodie Breton, [mailto:ebreton@unistra.fr ebreton(at)unistra.fr] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] [[File:Hifu.png|center|400px|thumb]] <br style="clear: " /> Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] Paolo Cabras, [mailto:cabras@unistra.fr cabras(at)unistra.fr] 0825ad54232c755f08a5b6f5da843af5fe3e7839 391 390 2022-11-11T21:48:37Z Lrubbert 27 wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. [[Image:Cemento.jpg|thumb|center|400px|Vertebroplasty]] <br style="clear: " /> Laurence Meylheuc, [mailto:laurence.meylheuc@insa-strasbourg.fr laurence.meylheuc(at)insa-strasbourg.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] Julien Garnon, [mailto:julien.garnon@chru-strasbourg.fr julien.garnon(at)chru-strasbourg.fr] == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. <embedvideo service="youtube" dimensions="300" alignment="center">https://www.youtube.com/watch?v=g-Xs7wQBEbQ?autoplay=1</embedvideo> ARC project Website: https://arc-needle.carrd.co/ Pierre Renaud, [mailto:pierre.renaud@insa-strasbourg.fr pierre.renaud(at)insa-strasbourg.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr lennart.rubbert(at)insa-strasbourg.fr] Francois Geiskopf [mailto:francois.geiskopf@insa-strasbourg.fr francois.geiskopf(at)insa-strasbourg.fr] Laurent Barbé, [mailto:barbe@unistra.fr barbe(at)unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. [[File:ease.png|thumb|center|350px|EASE project]] <br style="clear: both" /> Florent Nageotte, [mailto:nageotte@unistra.fr nageotte(at)unistra.fr] Philippe Zanne, [mailto:zanne.philippe@unistra.fr zanne.philippe@unistra.fr] [https://sites.google.com/site/benoitrosa Benoit Rosa] ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. Elodie Breton, [mailto:ebreton@unistra.fr ebreton(at)unistra.fr] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] [[File:Hifu.png|center|400px|thumb]] <br style="clear: " /> Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] Paolo Cabras, [mailto:cabras@unistra.fr cabras(at)unistra.fr] abe5a1cb093c6282f20e76c9431b16181512e1e4 392 391 2022-11-11T21:49:49Z Lrubbert 27 wikitext text/x-wiki The Medical Robotics and Interventional Imaging Research axis encompasses activities of the team in the field of robotic assistance to minimally invasive medical and surgical procedures and around methodological and clinical developments in interventional radiology. == Robot-aided Cementoplasty in interventional radiology == The RDH team has an ongoing collaboration with the Department of Interventional Imaging of Strasbourg University Hospital (HUS) on bone consolidation by cementoplasty. Cementoplasty consists in injecting orthopedic cement into osteoporotic or metastasized bone, under fluoroscopic guidance. The main rationale for robotizing this procedure is to deport the physician from the X-ray source, protecting him/her from repeated, harmful X-ray exposure. Interventional radiology, multiphysics modeling and simulation, as well as robotic gesture assistance are involved in this interdisciplinary research. The study of cementoplasty has structured a team of researchers and practitioners and led to numerous Master projects (>8 between 2011 and 2022) and two PhD theses. As a result of the SpineTronic project (2013-2016, SATT Conectus), a robotic system was developed allowing the practitioner to remotely control the cement viscosity during the injection. The BoneTronic project (Labex Cami BoneTronic 2020-22) addresses percutaneous cementoplasty for large volumes of PMMA such as in the pelvis. We established the specifications of a manual injector designed to handle large volumes of cement while delaying its polymerization. As part of the BoneTronic project, this device was developed along with low-cost pelvic phantoms for the cementoplasty procedure, especially for junior practitioners. Through this work, the team has developed numerous avenues for translational research, particularly in the field of pelvic oncology with bone consolidation by combining screws and cementoplasty. This work has led to the development of various devices or phantoms and to the publication of several scientific articles. [[Image:Cemento.jpg|thumb|center|400px|Vertebroplasty]] <br style="clear: " /> Laurence Meylheuc, [mailto:laurence.meylheuc@insa-strasbourg.fr laurence.meylheuc(at)insa-strasbourg.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] Julien Garnon, [mailto:julien.garnon@chru-strasbourg.fr julien.garnon(at)chru-strasbourg.fr] == Manufacturing process, new devices and robots for Interventional procedures == The RDH develops long-term research activities in the field of assistance to percutaneous procedures, as illustrated above by the projects on robot-assisted cementoplasty. Researchers of the RDH team have used their expertise in the fields of material science, 3D-printing techniques and actuation to develop new solutions for image-guided percutaneous procedures. In particular, the SPIRITS project (Smart Printed Interactive Robots for Interventional Therapy and Surgery) combined the existing complementary expertise of 5 partners and 8 associate partners in the Upper Rhine Region. Thanks to advanced manufacturing strategies, novel actuation solutions for the control of surgical needles were developed. Pneumatic and hydraulic actuators have been created, in particular by using the freedom of shape of 3D-printing to introduce innovative piston designs. In the end, several demonstrators using passive or active hydraulic technologies have been set up to validate the capacity to produce robotic components and systems, which are compatible with the stringent medical environment. Several prototypes have been produced and tested preclinically. Compatibility with X-Ray and MRI devices was established, and the impact of robotics in terms of procedure duration and X-ray exposure was also analyzed in collaboration with the University Hospital of Strasbourg. Feedback from radiologists was collected throughout the duration of the project. The results are very encouraging in terms of safety improvement and ease of use [REF]. Following the SPIRITS project, researchers of the RDH team, in collaboration with the Instant-Lab of EPFL, have developed a passive needle with variable stiffness for interventional radiology (ARC project, SATT Conectus). The stiffness change of the ARC needle is achieved by means of microfabricated flexure joints that can be locked and unlocked. When inserting the ARC needle, the bevel of the needle will favor a greater or lesser bending direction of the needle depending on the chosen stiffness. The possibility of easily bending the needle by several degrees allows accessing targets that are difficult to reach, by avoiding obstacles or considering new entry points. The ARC needle also allows the correction of the insertion trajectory without complete withdrawal of the needle, which limits the risks of infection and reduces the intervention time. Finally, it allows access to several targets in the same area for tissue harvesting or any other localized treatment. <embedvideo service="youtube" dimensions="300" alignment="center">https://www.youtube.com/watch?v=g-Xs7wQBEbQ</embedvideo> ARC project Website: https://arc-needle.carrd.co/ Pierre Renaud, [mailto:pierre.renaud@insa-strasbourg.fr pierre.renaud(at)insa-strasbourg.fr] Lennart Rubbert, [mailto:lennart.rubbert@insa-strasbourg.fr lennart.rubbert(at)insa-strasbourg.fr] Francois Geiskopf [mailto:francois.geiskopf@insa-strasbourg.fr francois.geiskopf(at)insa-strasbourg.fr] Laurent Barbé, [mailto:barbe@unistra.fr barbe(at)unistra.fr] Bernard Bayle, [mailto:bernard.bayle@unistra.fr bernard.bayle(at)unistra.fr] == Teleoperated robot-assisted flexible endoscopic surgery == A historical research area of the RDH team is the development of innovative mechatronic systems to assist surgeons during procedures in the digestive tract. New endoluminal procedures using flexible gastroenterology endoscopes allow treating pathologies such as tumors without any incision. But the techniques are very difficult and are performed by only a few experts in France, which limits patient access to these innovative treatments. The STRAS prototype is a telemanipulated system based on flexible instruments that allows a single operator to control an endoscope and two miniature instruments with surgical effectors simply and intuitively. The feasibility of using this robot for endoscopic colonic submucosa dissection (ESD) procedures has been demonstrated. This led the team to collaborate with the German company Karl Storz (manufacturer of endoscopes) and the IRCAD (Institute for Research on Cancers of the Digestive System) within the framework of a maturation project financed by the SATT Conectus. The objective was to develop a new version of the robot, called EASE, intended to be compatible with clinical trials. We have demonstrated that a non-specialist surgeon was able to perform endoscopic submucosal dissections in a safer and more efficient way thanks to the EASE Robot. These results have been published in the leading journal in the field of Gastroenterology (REF Gastroenterology). Robotizing flexible instruments raises fundamental open questions on the scientific and technological level. In this context, the Equipex+ TIRREX project and its medical axis was launched at the end of 2021. One of its objectives is to propose an open platform based on these developments, so that the academic community and industrial partners can work on a reference device in the field of flexible systems for surgery. To our knowledge, there is currently no equivalent research instrument in Europe. [[File:ease.png|thumb|center|350px|EASE project]] <br style="clear: both" /> Florent Nageotte, [mailto:nageotte@unistra.fr nageotte(at)unistra.fr] Philippe Zanne, [mailto:zanne.philippe@unistra.fr zanne.philippe@unistra.fr] [https://sites.google.com/site/benoitrosa Benoit Rosa] ==Interventional MRI methods for assistance to interventional procedures== Minimally-invasive procedures rely on the use of medical imaging (CT-scan, MRI, ultrasound...) for their guidance and monitoring. Among these imaging modalities, Magnetic Resonance Imaging (MRI) is strongly developing because of the absence of radiation for physicians and patients, the extremely rich tissue contrast it offers and the possibility to image several imaging planes in any orientation. Major clinical indications in interventional MRI are biopsies, injections, and tissue ablations for either curative of palliative intention. The RDH team develops new methods and techniques for assisting MRI-guided interventions. In particular, we have proposed a novel method for monitoring thermal ablations in real time using simultaneous MR Thermometry and MR Elastography. Temperature and elasticity have been shown to represent complementary information on tissue’s structural integrity during thermal ablations. This work has received multiple awards from the International Society for Magnetic Resonance in Medicine (ISMRM). Following these initial contributions, RDH researchers have further developed their research activities in the field of MR Thermometry through 2 PhD theses, particularly with the objective of measuring temperature in both water and fat-containing tissues, while maintaining investigation on real-time elastography methods. Elodie Breton, [mailto:ebreton@unistra.fr ebreton(at)unistra.fr] Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] ==Therapeutic Ultrasound== High Intensity Focused Ultrasound (HIFU) therapies are extremely promising non-invasive, non-ionizing methods capable of treating a wide spectrum of diseases. They rely on the physical interaction between the ultrasonic energy and the tissue to be treated. By adjusting the parameters of the ultrasonic beam, several mechanisms of action are possible, such as thermal ablations or localized tissue permeation for drug delivery for example. In collaboration with the Department of Interventional Imaging of Strasbourg University Hospital, Image Guided Therapy and Axilum Robotics, the RDH team has developed a new MR-guided HIFU device for treating musculoskeletal tumors. The UFOGUIDE device was successfully approved for clinical trials in 2020 and is now used in a clinical trial at Strasbourg University Hospital (clinicaltrials# NCT04803773). This device, and first clinical results have been published in Scientific Reports in 2022 [REF]. The UFOGUIDE device is a low-cost, fully functional MR-guided HIFU device whose ambition is to render these therapies more accessible and widespread. In parallel, the RDH team develops a robotized device for localized Blood-brain-barrier opening for treating neurological diseases, in collaboration with CEA/Neurospin (ANR 3BOPUS, 2017-2021). The main originality of the 3BOPUS device is that it allows targeting specific zones in the brain with great accuracy, without any need for real-time imaging guidance, thanks to the use of neuronavigation and collaborative robotics. These developments in the field of Therapeutic Ultrasound have led to the creation of a joint Laboratory between ICube and the company Image Guided Therapy in 2022. The aim of the TechnoFUS joint Laboratory is to make the best use of new technologies in MR Imaging, Robotics and Instrumentation to develop novel ultrasonic therapies. [https://www.technofuslab.cnrs.fr/ Website of the TechnoFUS lab] [[File:Hifu.png|center|400px|thumb]] <br style="clear: " /> Jonathan Vappou, [mailto:jvappou@unistra.fr jvappou(at)unistra.fr] Paolo Cabras, [mailto:cabras@unistra.fr cabras(at)unistra.fr] 0825ad54232c755f08a5b6f5da843af5fe3e7839 6 72 362 2022-10-19T13:17:55Z Bernard.bayle 5 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 6 73 372 2022-10-19T13:24:01Z Bernard.bayle 5 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 0 16 375 68 2022-10-31T14:04:55Z Schatelin 21 wikitext text/x-wiki '''[http://camma.u-strasbg.fr/opportunities CAMMA group]''': Computational Analysis and Modeling of Medical Activities<br> We are looking for motivated and talented students with knowledge in computer vision and/or machine learning who can contribute to the development of our computer vision system for the operating room. Please feel free to contact Nicolas Padoy if you are interested to do your master's thesis or an internship with us (funding of ~500Euros/month will be provided during 4 to 6 months). The successful candidates will be part of a dynamic and international research group hosted within IHU Strasbourg , at the University Hospital of Strasbourg. They will thereby have direct contact with clinicians, industrial partners and also have access to an exceptional research environment. The CAMMA project is supported by the laboratory of excellence CAMI, the IdEx Unistra and IHU Strasbourg. 5/6 months M2 internship: Registration of biomechanical models with ultrasound images (RADIUS project)<br> Image-guided percutaneous methods have been progressively recognized as an efficient alternative for treating Hepatocellular Carcinoma (HCC). Non-invasive imaging techniques are required to control the needle's placement efficiently. The most spread imaging modality is Ultrasounds (US). This project aims at developing a novel solution for needle steering using intra-operative US images and non-rigid registration of a biomechanical model. We are looking for a trainee for a period of 5 to 6 months (between February and August 2023), level Master 2 or engineering school around the medical and surgical simulation for the insertion of needles guided by the image. This internship will concern the registration of the FE model. The biomechanical models will be used to extrapolate the 3D displacement of the volume, even where no imaging data are available. Such an approach can then be used to display with Augmented Reality (AR) 3D information of the organ on top of medical images and automatic needle steering. For this purpose, we will develop solutions to localize the probe and the US image's plane with an external infrared camera system (Optitrack). Profile required: Very good level of programming in C++ / Good knowledge of image registration and biomechanical simulation / Experience in SOFA is a plus Contact: hcourtecuisse@unistra.fr '''[https://hadrien.courtecuisse.cnrs.fr/wp-content/uploads/job/stage2023.pdf Click Here for More details]''' cb279f656f1ad6b6109c9629909255f4f23ae155 376 375 2022-10-31T14:09:35Z Schatelin 21 wikitext text/x-wiki '''[http://camma.u-strasbg.fr/opportunities CAMMA group]''': Computational Analysis and Modeling of Medical Activities<br> We are looking for motivated and talented students with knowledge in computer vision and/or machine learning who can contribute to the development of our computer vision system for the operating room. Please feel free to contact Nicolas Padoy if you are interested to do your master's thesis or an internship with us (funding of ~500Euros/month will be provided during 4 to 6 months). The successful candidates will be part of a dynamic and international research group hosted within IHU Strasbourg , at the University Hospital of Strasbourg. They will thereby have direct contact with clinicians, industrial partners and also have access to an exceptional research environment. The CAMMA project is supported by the laboratory of excellence CAMI, the IdEx Unistra and IHU Strasbourg. '''5/6 months M2 internship: Registration of biomechanical models with ultrasound images (RADIUS project)'''<br> Image-guided percutaneous methods have been progressively recognized as an efficient alternative for treating Hepatocellular Carcinoma (HCC). Non-invasive imaging techniques are required to control the needle's placement efficiently. The most spread imaging modality is Ultrasounds (US). This project aims at developing a novel solution for needle steering using intra-operative US images and non-rigid registration of a biomechanical model. We are looking for a trainee for a period of 5 to 6 months (between February and August 2023), level Master 2 or engineering school around the medical and surgical simulation for the insertion of needles guided by the image. This internship will concern the registration of the FE model. The biomechanical models will be used to extrapolate the 3D displacement of the volume, even where no imaging data are available. Such an approach can then be used to display with Augmented Reality (AR) 3D information of the organ on top of medical images and automatic needle steering. For this purpose, we will develop solutions to localize the probe and the US image's plane with an external infrared camera system (Optitrack). Profile required: Very good level of programming in C++ / Good knowledge of image registration and biomechanical simulation / Experience in SOFA is a plus Contact: hcourtecuisse@unistra.fr '''[https://hadrien.courtecuisse.cnrs.fr/wp-content/uploads/job/stage2023.pdf Click Here for More details]''' b609373284b20c8d52256886e09eb7e52b96b327 377 376 2022-10-31T14:22:33Z Schatelin 21 wikitext text/x-wiki '''[http://camma.u-strasbg.fr/opportunities CAMMA group]''': Computational Analysis and Modeling of Medical Activities<br> We are looking for motivated and talented students with knowledge in computer vision and/or machine learning who can contribute to the development of our computer vision system for the operating room. Please feel free to contact Nicolas Padoy if you are interested to do your master's thesis or an internship with us (funding of ~500Euros/month will be provided during 4 to 6 months). The successful candidates will be part of a dynamic and international research group hosted within IHU Strasbourg , at the University Hospital of Strasbourg. They will thereby have direct contact with clinicians, industrial partners and also have access to an exceptional research environment. The CAMMA project is supported by the laboratory of excellence CAMI, the IdEx Unistra and IHU Strasbourg. '''5/6 months M2 internship: Registration of biomechanical models with ultrasound images (RADIUS project)'''<br> Image-guided percutaneous methods have been progressively recognized as an efficient alternative for treating Hepatocellular Carcinoma (HCC). Non-invasive imaging techniques are required to control the needle's placement efficiently. The most spread imaging modality is Ultrasounds (US). This project aims at developing a novel solution for needle steering using intra-operative US images and non-rigid registration of a biomechanical model. We are looking for a trainee for a period of 5 to 6 months (between February and August 2023), level Master 2 or engineering school around the medical and surgical simulation for the insertion of needles guided by the image. This internship will concern the registration of the FE model. The biomechanical models will be used to extrapolate the 3D displacement of the volume, even where no imaging data are available. Such an approach can then be used to display with Augmented Reality (AR) 3D information of the organ on top of medical images and automatic needle steering. For this purpose, we will develop solutions to localize the probe and the US image's plane with an external infrared camera system (Optitrack). Profile required: Very good level of programming in C++ / Good knowledge of image registration and biomechanical simulation / Experience in SOFA is a plus. [mailto:hcourtecuisse@unistra.fr Contact] '''[https://hadrien.courtecuisse.cnrs.fr/wp-content/uploads/job/stage2023.pdf Click Here for More details]''' 051230adea0b01a00b776eaa2ba46831900cbea9 381 377 2022-10-31T14:32:07Z Schatelin 21 wikitext text/x-wiki '''[http://camma.u-strasbg.fr/opportunities CAMMA group]''': Computational Analysis and Modeling of Medical Activities<br> We are looking for motivated and talented students with knowledge in computer vision and/or machine learning who can contribute to the development of our computer vision system for the operating room. Please feel free to contact Nicolas Padoy if you are interested to do your master's thesis or an internship with us (funding of ~500Euros/month will be provided during 4 to 6 months). The successful candidates will be part of a dynamic and international research group hosted within IHU Strasbourg , at the University Hospital of Strasbourg. They will thereby have direct contact with clinicians, industrial partners and also have access to an exceptional research environment. The CAMMA project is supported by the laboratory of excellence CAMI, the IdEx Unistra and IHU Strasbourg. '''5/6 months M2 internship: Registration of biomechanical models with ultrasound images (RADIUS project)'''<br> Image-guided percutaneous methods have been progressively recognized as an efficient alternative for treating Hepatocellular Carcinoma (HCC). Non-invasive imaging techniques are required to control the needle's placement efficiently. The most spread imaging modality is Ultrasounds (US). This project aims at developing a novel solution for needle steering using intra-operative US images and non-rigid registration of a biomechanical model. We are looking for a trainee for a period of 5 to 6 months (between February and August 2023), level Master 2 or engineering school around the medical and surgical simulation for the insertion of needles guided by the image. This internship will concern the registration of the FE model. The biomechanical models will be used to extrapolate the 3D displacement of the volume, even where no imaging data are available. Such an approach can then be used to display with Augmented Reality (AR) 3D information of the organ on top of medical images and automatic needle steering. For this purpose, we will develop solutions to localize the probe and the US image's plane with an external infrared camera system (Optitrack). <div style="position: relative; overflow: hidden; height: 300px;"> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:TR1.jpg|right|500px| RADIUS 1]]</div> <div style="position: relative; height: 1%;">[[Image:TR2.jpg|right|500px| RADIUS 2]]</div> <div style="position: relative; height: 1%;">[[Image:TR3.jpg|right|500px| RADIUS 3]]</div> </slideshow> </div> </div> Profile required: Very good level of programming in C++ / Good knowledge of image registration and biomechanical simulation / Experience in SOFA is a plus. [mailto:hcourtecuisse@unistra.fr Contact] '''[https://hadrien.courtecuisse.cnrs.fr/wp-content/uploads/job/stage2023.pdf Click Here for More details]''' a889d7cdf774c671c9b5a55cb452107a1d91e6ed 382 381 2022-10-31T14:35:10Z Schatelin 21 wikitext text/x-wiki '''[http://camma.u-strasbg.fr/opportunities CAMMA group]''': Computational Analysis and Modeling of Medical Activities<br> We are looking for motivated and talented students with knowledge in computer vision and/or machine learning who can contribute to the development of our computer vision system for the operating room. Please feel free to contact Nicolas Padoy if you are interested to do your master's thesis or an internship with us (funding of ~500Euros/month will be provided during 4 to 6 months). The successful candidates will be part of a dynamic and international research group hosted within IHU Strasbourg , at the University Hospital of Strasbourg. They will thereby have direct contact with clinicians, industrial partners and also have access to an exceptional research environment. The CAMMA project is supported by the laboratory of excellence CAMI, the IdEx Unistra and IHU Strasbourg. '''5/6 months M2 internship: Registration of biomechanical models with ultrasound images (RADIUS project)'''<br> Image-guided percutaneous methods have been progressively recognized as an efficient alternative for treating Hepatocellular Carcinoma (HCC). Non-invasive imaging techniques are required to control the needle's placement efficiently. The most spread imaging modality is Ultrasounds (US). This project aims at developing a novel solution for needle steering using intra-operative US images and non-rigid registration of a biomechanical model. We are looking for a trainee for a period of 5 to 6 months (between February and August 2023), level Master 2 or engineering school around the medical and surgical simulation for the insertion of needles guided by the image. This internship will concern the registration of the FE model. The biomechanical models will be used to extrapolate the 3D displacement of the volume, even where no imaging data are available. Such an approach can then be used to display with Augmented Reality (AR) 3D information of the organ on top of medical images and automatic needle steering. For this purpose, we will develop solutions to localize the probe and the US image's plane with an external infrared camera system (Optitrack). <div style="position: relative; overflow: hidden; height: 300px;"> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:TR1.jpg|right|500px| RADIUS 1]]</div> <div style="position: relative; height: 1%;">[[Image:TR2.jpg|right|500px| RADIUS 2]]</div> <div style="position: relative; height: 1%;">[[Image:TR3.jpg|right|500px| RADIUS 3]]</div> </slideshow> </div> </div> Profile required: Very good level of programming in C++ / Good knowledge of image registration and biomechanical simulation / Experience in SOFA is a plus. Supervision: Dr. Hadrien Courtecuisse (CR CNRS) / Dr. Simon Chatelin (CR CNRS), Location: ICube (RDH and MLMS teams), civil hospital site (IHU and Clovis Vincent). [mailto:hcourtecuisse@unistra.fr Contact] '''[https://hadrien.courtecuisse.cnrs.fr/wp-content/uploads/job/stage2023.pdf Click Here for More details]''' 2349652e23e2e5c8c02a2815d046a4339700730a 395 382 2022-11-21T13:44:28Z Bernard.bayle 5 wikitext text/x-wiki '''Stage de 5/6 mois (M2 ou diplôme d'ingénieur) Développement d’un prototype de robot continu à tubes concentriques et caractérisation de son comportement géométrique'''<be> Sujet détaillé (en Français) ''' [https://seafile.unistra.fr/f/6bce55b1a11d46bc8a16/ Ici avec tous les détails]''' Encadrant : Guillaume LODS g.lods@unistra.fr, lieu: ICube @IHU Strasbourg(RDH). [mailto:g.lods@unistra.fr Contact] '''5/6 months M2 internship: Registration of biomechanical models with ultrasound images (RADIUS project)'''<br> Image-guided percutaneous methods have been progressively recognized as an efficient alternative for treating Hepatocellular Carcinoma (HCC). Non-invasive imaging techniques are required to control the needle's placement efficiently. The most spread imaging modality is Ultrasounds (US). This project aims at developing a novel solution for needle steering using intra-operative US images and non-rigid registration of a biomechanical model. We are looking for a trainee for a period of 5 to 6 months (between February and August 2023), level Master 2 or engineering school around the medical and surgical simulation for the insertion of needles guided by the image. This internship will concern the registration of the FE model. The biomechanical models will be used to extrapolate the 3D displacement of the volume, even where no imaging data are available. Such an approach can then be used to display with Augmented Reality (AR) 3D information of the organ on top of medical images and automatic needle steering. For this purpose, we will develop solutions to localize the probe and the US image's plane with an external infrared camera system (Optitrack). <div style="position: relative; overflow: hidden; height: 300px;"> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:TR1.jpg|right|500px| RADIUS 1]]</div> <div style="position: relative; height: 1%;">[[Image:TR2.jpg|right|500px| RADIUS 2]]</div> <div style="position: relative; height: 1%;">[[Image:TR3.jpg|right|500px| RADIUS 3]]</div> </slideshow> </div> </div> Profile required: Very good level of programming in C++ / Good knowledge of image registration and biomechanical simulation / Experience in SOFA is a plus. Supervision: Dr. Hadrien Courtecuisse (CR CNRS) / Dr. Simon Chatelin (CR CNRS), Location: ICube (RDH and MLMS teams), civil hospital site (IHU and Clovis Vincent). [mailto:hcourtecuisse@unistra.fr Contact] '''[https://hadrien.courtecuisse.cnrs.fr/wp-content/uploads/job/stage2023.pdf Click Here for More details]''' '''[http://camma.u-strasbg.fr/opportunities CAMMA group]''': Computational Analysis and Modeling of Medical Activities<br> We are looking for motivated and talented students with knowledge in computer vision and/or machine learning who can contribute to the development of our computer vision system for the operating room. Please feel free to contact Nicolas Padoy if you are interested to do your master's thesis or an internship with us (funding of ~500Euros/month will be provided during 4 to 6 months). The successful candidates will be part of a dynamic and international research group hosted within IHU Strasbourg , at the University Hospital of Strasbourg. They will thereby have direct contact with clinicians, industrial partners and also have access to an exceptional research environment. The CAMMA project is supported by the laboratory of excellence CAMI, the IdEx Unistra and IHU Strasbourg. 0b03fcde5ea2899be069ef896c02c9e83542484a 396 395 2022-11-21T13:45:57Z Bernard.bayle 5 wikitext text/x-wiki '''Stage de 5/6 mois : Développement d’un prototype de robot continu à tubes concentriques et caractérisation de son comportement géométrique (M2 ou diplôme d'ingénieur)'''<be> [https://seafile.unistra.fr/f/ef55d170ec2e41b5b68f/ Sujet détaillé] (en Français) Encadrant : Guillaume LODS g.lods@unistra.fr, lieu: ICube @IHU Strasbourg(RDH). [mailto:g.lods@unistra.fr Contact] '''5/6 months M2 internship: Registration of biomechanical models with ultrasound images (RADIUS project)'''<br> Image-guided percutaneous methods have been progressively recognized as an efficient alternative for treating Hepatocellular Carcinoma (HCC). Non-invasive imaging techniques are required to control the needle's placement efficiently. The most spread imaging modality is Ultrasounds (US). This project aims at developing a novel solution for needle steering using intra-operative US images and non-rigid registration of a biomechanical model. We are looking for a trainee for a period of 5 to 6 months (between February and August 2023), level Master 2 or engineering school around the medical and surgical simulation for the insertion of needles guided by the image. This internship will concern the registration of the FE model. The biomechanical models will be used to extrapolate the 3D displacement of the volume, even where no imaging data are available. Such an approach can then be used to display with Augmented Reality (AR) 3D information of the organ on top of medical images and automatic needle steering. For this purpose, we will develop solutions to localize the probe and the US image's plane with an external infrared camera system (Optitrack). <div style="position: relative; overflow: hidden; height: 300px;"> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:TR1.jpg|right|500px| RADIUS 1]]</div> <div style="position: relative; height: 1%;">[[Image:TR2.jpg|right|500px| RADIUS 2]]</div> <div style="position: relative; height: 1%;">[[Image:TR3.jpg|right|500px| RADIUS 3]]</div> </slideshow> </div> </div> Profile required: Very good level of programming in C++ / Good knowledge of image registration and biomechanical simulation / Experience in SOFA is a plus. Supervision: Dr. Hadrien Courtecuisse (CR CNRS) / Dr. Simon Chatelin (CR CNRS), Location: ICube (RDH and MLMS teams), civil hospital site (IHU and Clovis Vincent). [mailto:hcourtecuisse@unistra.fr Contact] '''[https://hadrien.courtecuisse.cnrs.fr/wp-content/uploads/job/stage2023.pdf Click Here for More details]''' '''[http://camma.u-strasbg.fr/opportunities CAMMA group]''': Computational Analysis and Modeling of Medical Activities<br> We are looking for motivated and talented students with knowledge in computer vision and/or machine learning who can contribute to the development of our computer vision system for the operating room. Please feel free to contact Nicolas Padoy if you are interested to do your master's thesis or an internship with us (funding of ~500Euros/month will be provided during 4 to 6 months). The successful candidates will be part of a dynamic and international research group hosted within IHU Strasbourg , at the University Hospital of Strasbourg. They will thereby have direct contact with clinicians, industrial partners and also have access to an exceptional research environment. The CAMMA project is supported by the laboratory of excellence CAMI, the IdEx Unistra and IHU Strasbourg. 0ce7e73ff59ad972e5edc00939db05f775de346f 397 396 2022-11-22T18:10:53Z Glods 29 wikitext text/x-wiki '''5/6 months M2 internship: Development of a concentric tube continuous robot prototype and characterization of its geometrical behavior'''<br> [https://seafile.unistra.fr/f/ef55d170ec2e41b5b68f/ Sujet détaillé] (en Français) Continuous robots are an opportunity to design systems with a high degree of mobilities, a small size and operating with flexibility. Thanks to such characteristics, these systems are suitable to develop new human-machine interactions, especially for minimally invasive medical procedures. One of the most promising designs is the Concentric Tubes Robot (CTR) due to its high capacity of miniaturization. During the PhD thesis of Guillaume Lods, some works have been made on the direct geometrical model of these robots. <br> Encadrant : Guillaume LODS g.lods@unistra.fr, lieu: ICube @IHU Strasbourg(RDH). [mailto:g.lods@unistra.fr Contact] '''5/6 months M2 internship: Registration of biomechanical models with ultrasound images (RADIUS project)'''<br> Image-guided percutaneous methods have been progressively recognized as an efficient alternative for treating Hepatocellular Carcinoma (HCC). Non-invasive imaging techniques are required to control the needle's placement efficiently. The most spread imaging modality is Ultrasounds (US). This project aims at developing a novel solution for needle steering using intra-operative US images and non-rigid registration of a biomechanical model. We are looking for a trainee for a period of 5 to 6 months (between February and August 2023), level Master 2 or engineering school around the medical and surgical simulation for the insertion of needles guided by the image. This internship will concern the registration of the FE model. The biomechanical models will be used to extrapolate the 3D displacement of the volume, even where no imaging data are available. Such an approach can then be used to display with Augmented Reality (AR) 3D information of the organ on top of medical images and automatic needle steering. For this purpose, we will develop solutions to localize the probe and the US image's plane with an external infrared camera system (Optitrack). <div style="position: relative; overflow: hidden; height: 300px;"> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:TR1.jpg|right|500px| RADIUS 1]]</div> <div style="position: relative; height: 1%;">[[Image:TR2.jpg|right|500px| RADIUS 2]]</div> <div style="position: relative; height: 1%;">[[Image:TR3.jpg|right|500px| RADIUS 3]]</div> </slideshow> </div> </div> Profile required: Very good level of programming in C++ / Good knowledge of image registration and biomechanical simulation / Experience in SOFA is a plus. Supervision: Dr. Hadrien Courtecuisse (CR CNRS) / Dr. Simon Chatelin (CR CNRS), Location: ICube (RDH and MLMS teams), civil hospital site (IHU and Clovis Vincent). [mailto:hcourtecuisse@unistra.fr Contact] '''[https://hadrien.courtecuisse.cnrs.fr/wp-content/uploads/job/stage2023.pdf Click Here for More details]''' '''[http://camma.u-strasbg.fr/opportunities CAMMA group]''': Computational Analysis and Modeling of Medical Activities<br> We are looking for motivated and talented students with knowledge in computer vision and/or machine learning who can contribute to the development of our computer vision system for the operating room. Please feel free to contact Nicolas Padoy if you are interested to do your master's thesis or an internship with us (funding of ~500Euros/month will be provided during 4 to 6 months). The successful candidates will be part of a dynamic and international research group hosted within IHU Strasbourg , at the University Hospital of Strasbourg. They will thereby have direct contact with clinicians, industrial partners and also have access to an exceptional research environment. The CAMMA project is supported by the laboratory of excellence CAMI, the IdEx Unistra and IHU Strasbourg. 29d0cfa175b3f6d23a1fa03da01e0ee010bba9f1 398 397 2022-11-22T18:24:55Z Glods 29 wikitext text/x-wiki '''5/6 months M2 internship: Development of a concentric tube continuous robot prototype and characterization of its geometrical behavior'''<br> [https://seafile.unistra.fr/f/ef55d170ec2e41b5b68f/ Sujet détaillé] (en Français) Continuous robots are an opportunity to design systems with a high degree of mobilities, a small size and operating with flexibility. Thanks to such characteristics, these systems are suitable to develop new human-machine interactions, especially for minimally invasive medical procedures. One of the most promising designs is the Concentric Tubes Robot (CTR) due to its high capacity of miniaturization. During the PhD thesis of Guillaume Lods, some works have been made on the direct geometrical model of these robots. <br> The objective of this internship is to evaluate the mechanical model using an experimental setup in order to verify the assumptions made during the theoretical development : <br> - Conduct a literature review on the manufacture and actuation of concentric tube robot <br> - Propose an experimental bench design including a CTR as well as solutions for the acquisition of the real shape of the robot <br> - Build the whole system (mechanical, control and acquisition) <br> - Carry out a characterization of the direct geometric model using the acquired measurements <br> <br> In order to fully respond to these challenges, some skills are expected for the students applying for this offer : <br> - Demonstrate interest for robotics research <br> - Strong skills in mechanical CAD and mechatronics <br> - Some background in 3D printing, realization of robotic systems, and image processing will be ap- preciated but are not required <br> <br> For more informations, please read the attached documents : '''[https://seafile.unistra.fr/f/d5dd646cb08f4e2fac1a/ French version]''' or '''[https://seafile.unistra.fr/f/6821d2b4d818429f9396/ English version]'''. <br> <br> Supervisor: Guillaume LODS [mailto:g.lods@unistra.fr Contact] <br> Place: ICube @IHU Strasbourg (RDH). '''5/6 months M2 internship: Registration of biomechanical models with ultrasound images (RADIUS project)'''<br> Image-guided percutaneous methods have been progressively recognized as an efficient alternative for treating Hepatocellular Carcinoma (HCC). Non-invasive imaging techniques are required to control the needle's placement efficiently. The most spread imaging modality is Ultrasounds (US). This project aims at developing a novel solution for needle steering using intra-operative US images and non-rigid registration of a biomechanical model. We are looking for a trainee for a period of 5 to 6 months (between February and August 2023), level Master 2 or engineering school around the medical and surgical simulation for the insertion of needles guided by the image. This internship will concern the registration of the FE model. The biomechanical models will be used to extrapolate the 3D displacement of the volume, even where no imaging data are available. Such an approach can then be used to display with Augmented Reality (AR) 3D information of the organ on top of medical images and automatic needle steering. For this purpose, we will develop solutions to localize the probe and the US image's plane with an external infrared camera system (Optitrack). <div style="position: relative; overflow: hidden; height: 300px;"> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:TR1.jpg|right|500px| RADIUS 1]]</div> <div style="position: relative; height: 1%;">[[Image:TR2.jpg|right|500px| RADIUS 2]]</div> <div style="position: relative; height: 1%;">[[Image:TR3.jpg|right|500px| RADIUS 3]]</div> </slideshow> </div> </div> Profile required: Very good level of programming in C++ / Good knowledge of image registration and biomechanical simulation / Experience in SOFA is a plus. Supervision: Dr. Hadrien Courtecuisse (CR CNRS) / Dr. Simon Chatelin (CR CNRS), Location: ICube (RDH and MLMS teams), civil hospital site (IHU and Clovis Vincent). [mailto:hcourtecuisse@unistra.fr Contact] '''[https://hadrien.courtecuisse.cnrs.fr/wp-content/uploads/job/stage2023.pdf Click Here for More details]''' '''[http://camma.u-strasbg.fr/opportunities CAMMA group]''': Computational Analysis and Modeling of Medical Activities<br> We are looking for motivated and talented students with knowledge in computer vision and/or machine learning who can contribute to the development of our computer vision system for the operating room. Please feel free to contact Nicolas Padoy if you are interested to do your master's thesis or an internship with us (funding of ~500Euros/month will be provided during 4 to 6 months). The successful candidates will be part of a dynamic and international research group hosted within IHU Strasbourg , at the University Hospital of Strasbourg. They will thereby have direct contact with clinicians, industrial partners and also have access to an exceptional research environment. The CAMMA project is supported by the laboratory of excellence CAMI, the IdEx Unistra and IHU Strasbourg. a790326482d41a8a2b12169d716b97087a39db47 401 398 2022-11-22T18:32:55Z Glods 29 wikitext text/x-wiki '''5/6 months M2 internship: Development of a concentric tube continuous robot prototype and characterization of its geometrical behavior'''<br> <br> Continuous robots are an opportunity to design systems with a high degree of mobilities, a small size and operating with flexibility. Thanks to such characteristics, these systems are suitable to develop new human-machine interactions, especially for minimally invasive medical procedures. One of the most promising designs is the Concentric Tubes Robot (CTR) due to its high capacity of miniaturization. During the PhD thesis of Guillaume Lods, some works have been made on the direct geometrical model of these robots. <br> <br> <div style="position: relative; overflow: hidden; height: 300px;"> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Image internship 1.jpg|right|500px| RADIUS 1]]</div> <div style="position: relative; height: 1%;">[[Image:TR2.jpg|right|500px| RADIUS 2]]</div> <div style="position: relative; height: 1%;">[[Image:TR3.jpg|right|500px| RADIUS 3]]</div> </slideshow> </div> </div> <br> The objective of this internship is to evaluate the mechanical model using an experimental setup in order to verify the assumptions made during the theoretical development : <br> - Conduct a literature review on the manufacture and actuation of concentric tube robot <br> - Propose an experimental bench design including a CTR as well as solutions for the acquisition of the real shape of the robot <br> - Build the whole system (mechanical, control and acquisition) <br> - Carry out a characterization of the direct geometric model using the acquired measurements <br> <br> In order to fully respond to these challenges, some skills are expected for the students applying for this offer : <br> - Demonstrate interest for robotics research <br> - Strong skills in mechanical CAD and mechatronics <br> - Some background in 3D printing, realization of robotic systems, and image processing will be ap- preciated but are not required <br> <br> For more informations, please read the attached documents : '''[https://seafile.unistra.fr/f/d5dd646cb08f4e2fac1a/ French version]''' or '''[https://seafile.unistra.fr/f/6821d2b4d818429f9396/ English version]'''. <br> <br> Supervisor: Guillaume LODS [mailto:g.lods@unistra.fr Contact] <br> Place: ICube @IHU Strasbourg (RDH). '''5/6 months M2 internship: Registration of biomechanical models with ultrasound images (RADIUS project)'''<br> Image-guided percutaneous methods have been progressively recognized as an efficient alternative for treating Hepatocellular Carcinoma (HCC). Non-invasive imaging techniques are required to control the needle's placement efficiently. The most spread imaging modality is Ultrasounds (US). This project aims at developing a novel solution for needle steering using intra-operative US images and non-rigid registration of a biomechanical model. We are looking for a trainee for a period of 5 to 6 months (between February and August 2023), level Master 2 or engineering school around the medical and surgical simulation for the insertion of needles guided by the image. This internship will concern the registration of the FE model. The biomechanical models will be used to extrapolate the 3D displacement of the volume, even where no imaging data are available. Such an approach can then be used to display with Augmented Reality (AR) 3D information of the organ on top of medical images and automatic needle steering. For this purpose, we will develop solutions to localize the probe and the US image's plane with an external infrared camera system (Optitrack). <div style="position: relative; overflow: hidden; height: 300px;"> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:TR1.jpg|right|500px| RADIUS 1]]</div> <div style="position: relative; height: 1%;">[[Image:TR2.jpg|right|500px| RADIUS 2]]</div> <div style="position: relative; height: 1%;">[[Image:TR3.jpg|right|500px| RADIUS 3]]</div> </slideshow> </div> </div> Profile required: Very good level of programming in C++ / Good knowledge of image registration and biomechanical simulation / Experience in SOFA is a plus. Supervision: Dr. Hadrien Courtecuisse (CR CNRS) / Dr. Simon Chatelin (CR CNRS), Location: ICube (RDH and MLMS teams), civil hospital site (IHU and Clovis Vincent). [mailto:hcourtecuisse@unistra.fr Contact] '''[https://hadrien.courtecuisse.cnrs.fr/wp-content/uploads/job/stage2023.pdf Click Here for More details]''' '''[http://camma.u-strasbg.fr/opportunities CAMMA group]''': Computational Analysis and Modeling of Medical Activities<br> We are looking for motivated and talented students with knowledge in computer vision and/or machine learning who can contribute to the development of our computer vision system for the operating room. Please feel free to contact Nicolas Padoy if you are interested to do your master's thesis or an internship with us (funding of ~500Euros/month will be provided during 4 to 6 months). The successful candidates will be part of a dynamic and international research group hosted within IHU Strasbourg , at the University Hospital of Strasbourg. They will thereby have direct contact with clinicians, industrial partners and also have access to an exceptional research environment. The CAMMA project is supported by the laboratory of excellence CAMI, the IdEx Unistra and IHU Strasbourg. 0aff0495fe18dcbcbf9d7349e88ea6b47db166c0 403 401 2022-11-22T18:33:51Z Glods 29 wikitext text/x-wiki '''5/6 months M2 internship: Development of a concentric tube continuous robot prototype and characterization of its geometrical behavior'''<br> <br> Continuous robots are an opportunity to design systems with a high degree of mobilities, a small size and operating with flexibility. Thanks to such characteristics, these systems are suitable to develop new human-machine interactions, especially for minimally invasive medical procedures. One of the most promising designs is the Concentric Tubes Robot (CTR) due to its high capacity of miniaturization. During the PhD thesis of Guillaume Lods, some works have been made on the direct geometrical model of these robots. <br> <br> <div style="position: relative; overflow: hidden; height: 300px;"> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Image internship 1.jpg|right|500px| RADIUS 1]]</div> <div style="position: relative; height: 1%;">[[Image:Image_internship_2.jpg|right|500px| RADIUS 2]]</div> <div style="position: relative; height: 1%;">[[Image:TR3.jpg|right|500px| RADIUS 3]]</div> </slideshow> </div> </div> <br> The objective of this internship is to evaluate the mechanical model using an experimental setup in order to verify the assumptions made during the theoretical development : <br> - Conduct a literature review on the manufacture and actuation of concentric tube robot <br> - Propose an experimental bench design including a CTR as well as solutions for the acquisition of the real shape of the robot <br> - Build the whole system (mechanical, control and acquisition) <br> - Carry out a characterization of the direct geometric model using the acquired measurements <br> <br> In order to fully respond to these challenges, some skills are expected for the students applying for this offer : <br> - Demonstrate interest for robotics research <br> - Strong skills in mechanical CAD and mechatronics <br> - Some background in 3D printing, realization of robotic systems, and image processing will be ap- preciated but are not required <br> <br> For more informations, please read the attached documents : '''[https://seafile.unistra.fr/f/d5dd646cb08f4e2fac1a/ French version]''' or '''[https://seafile.unistra.fr/f/6821d2b4d818429f9396/ English version]'''. <br> <br> Supervisor: Guillaume LODS [mailto:g.lods@unistra.fr Contact] <br> Place: ICube @IHU Strasbourg (RDH). '''5/6 months M2 internship: Registration of biomechanical models with ultrasound images (RADIUS project)'''<br> Image-guided percutaneous methods have been progressively recognized as an efficient alternative for treating Hepatocellular Carcinoma (HCC). Non-invasive imaging techniques are required to control the needle's placement efficiently. The most spread imaging modality is Ultrasounds (US). This project aims at developing a novel solution for needle steering using intra-operative US images and non-rigid registration of a biomechanical model. We are looking for a trainee for a period of 5 to 6 months (between February and August 2023), level Master 2 or engineering school around the medical and surgical simulation for the insertion of needles guided by the image. This internship will concern the registration of the FE model. The biomechanical models will be used to extrapolate the 3D displacement of the volume, even where no imaging data are available. Such an approach can then be used to display with Augmented Reality (AR) 3D information of the organ on top of medical images and automatic needle steering. For this purpose, we will develop solutions to localize the probe and the US image's plane with an external infrared camera system (Optitrack). <div style="position: relative; overflow: hidden; height: 300px;"> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:TR1.jpg|right|500px| RADIUS 1]]</div> <div style="position: relative; height: 1%;">[[Image:TR2.jpg|right|500px| RADIUS 2]]</div> <div style="position: relative; height: 1%;">[[Image:TR3.jpg|right|500px| RADIUS 3]]</div> </slideshow> </div> </div> Profile required: Very good level of programming in C++ / Good knowledge of image registration and biomechanical simulation / Experience in SOFA is a plus. Supervision: Dr. Hadrien Courtecuisse (CR CNRS) / Dr. Simon Chatelin (CR CNRS), Location: ICube (RDH and MLMS teams), civil hospital site (IHU and Clovis Vincent). [mailto:hcourtecuisse@unistra.fr Contact] '''[https://hadrien.courtecuisse.cnrs.fr/wp-content/uploads/job/stage2023.pdf Click Here for More details]''' '''[http://camma.u-strasbg.fr/opportunities CAMMA group]''': Computational Analysis and Modeling of Medical Activities<br> We are looking for motivated and talented students with knowledge in computer vision and/or machine learning who can contribute to the development of our computer vision system for the operating room. Please feel free to contact Nicolas Padoy if you are interested to do your master's thesis or an internship with us (funding of ~500Euros/month will be provided during 4 to 6 months). The successful candidates will be part of a dynamic and international research group hosted within IHU Strasbourg , at the University Hospital of Strasbourg. They will thereby have direct contact with clinicians, industrial partners and also have access to an exceptional research environment. The CAMMA project is supported by the laboratory of excellence CAMI, the IdEx Unistra and IHU Strasbourg. b6d9a6c625efec5ad703f2e1893fef742e6b76c5 6 74 378 2022-10-31T14:28:29Z Schatelin 21 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 6 75 379 2022-10-31T14:30:54Z Schatelin 21 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 6 76 380 2022-10-31T14:31:31Z Schatelin 21 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 0 23 384 120 2022-11-10T15:01:41Z Bernard.bayle 5 /* Research */ wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || @IHU de Strasbourg<br> Bernard BAYLE <br> IHU de Strasbourg, RDH/ICube<br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel. : +33 3 90 41 35 46 |} === Research === Researcher in the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] (formerly Automatic control, computer Vision and Robotics) of the ICube laboratory and deputy head of the team. I am also the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. My current research activities are dedicated to physical human-robot interactions, with robot assistance to medical interventions as the main application field. [https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu Publications] <br> [[PhD_supervisions_B._Bayle|PhD supervision]] === Teaching === Professor at [https://www.telecom-physique.fr/ Télécom Physique Strasbourg], I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[Teaching_B._Bayle|'''here''']]. 06211ac71058459ce23302569509c0053f4b96d1 0 19 385 79 2022-11-10T15:09:19Z Bernard.bayle 5 wikitext text/x-wiki {|- | [[File:Photo vappou.jpg|120x180px]] || || '''RDH team head: Dr. [Jonathan VAPPOU]''', CNRS <br> IHU de Strasbourg, RDH/ICube <br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel: +33 3 90 41 35 47<br> Email: jvappou(at)unistra(dot)fr<br> [https://orcid.org/0000-0002-2156-0619]<br> <br> |- | [[File:Photo bbayle.jpg|120x180px]] || || '''RDH team head: Prof. [https://rdh.icube.unistra.fr/index.php/Bernard_Bayle Bernard BAYLE]''', University of Strasbourg <br> IHU de Strasbourg, RDH/ICube <br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel: +33 3 90 41 35 46<br> Email: bernard(dot)bayle(at)unistra(dot)fr<br> [https://orcid.org/0000-0003-4728-8593 ORCID]<br> <br> |} 97313ab9218c5aa562a23c206567d8612322682e 388 385 2022-11-10T15:13:02Z Bernard.bayle 5 wikitext text/x-wiki {|- | [[File:Photo vappou_resp.jpg|120x180px]] || || '''RDH team head: Dr. [Jonathan VAPPOU]''', CNRS <br> IHU de Strasbourg, RDH/ICube <br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel: +33 3 90 41 35 47<br> Email: jvappou(at)unistra(dot)fr<br> [https://orcid.org/0000-0002-2156-0619]<br> <br> |- | [[File:Photo bbayle.jpg|120x180px]] || || '''RDH team head: Prof. [https://rdh.icube.unistra.fr/index.php/Bernard_Bayle Bernard BAYLE]''', University of Strasbourg <br> IHU de Strasbourg, RDH/ICube <br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel: +33 3 90 41 35 46<br> Email: bernard(dot)bayle(at)unistra(dot)fr<br> [https://orcid.org/0000-0003-4728-8593 ORCID]<br> <br> |} a9cbbb072783780b95a3a8c35708e78e6af099bd 389 388 2022-11-10T15:13:56Z Bernard.bayle 5 wikitext text/x-wiki {|- | [[File:Photo vappou_resp.jpg|120x180px]] || || '''RDH team head: Dr. Jonathan VAPPOU''', CNRS <br> IHU de Strasbourg, RDH/ICube <br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel: +33 3 90 41 35 47<br> Email: jvappou(at)unistra(dot)fr<br> [https://orcid.org/0000-0002-2156-0619]<br> <br> |- | [[File:Photo bbayle.jpg|120x180px]] || || <br> '''RDH team head: Prof. [https://rdh.icube.unistra.fr/index.php/Bernard_Bayle Bernard BAYLE]''', University of Strasbourg <br> IHU de Strasbourg, RDH/ICube <br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel: +33 3 90 41 35 46<br> Email: bernard(dot)bayle(at)unistra(dot)fr<br> [https://orcid.org/0000-0003-4728-8593 ORCID]<br> <br> |} d02a029fec0731cbf83cd049485067c964d85c26 6 77 386 2022-11-10T15:09:57Z Bernard.bayle 5 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 6 78 387 2022-11-10T15:12:29Z Bernard.bayle 5 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 6 79 393 2022-11-11T21:55:25Z Lrubbert 27 wikitext text/x-wiki ARC needle: www.arc-needle.carrd.co 270290a223687d81e526e9dede6fe20b472fe58c 6 80 399 2022-11-22T18:30:00Z Glods 29 wikitext text/x-wiki Image RDH 1 39030bf73850165fc52f7b21c48a8317790e0b85 6 81 400 2022-11-22T18:32:30Z Glods 29 wikitext text/x-wiki Image_internship_1 bdf10ffc9b0bebf7f1524bfec28ff937c227dd1a 6 82 402 2022-11-22T18:33:33Z Glods 29 wikitext text/x-wiki Image_internship_2 2256f9965b69f22dc73aff66fee7f57b41441d7b 6 83 404 2022-11-22T18:34:44Z Glods 29 wikitext text/x-wiki Image_internship_3 db6b20b82c7ce0e7422dbc1fb57ee10b7124ef35 6 84 405 2022-11-22T18:35:12Z Glods 29 wikitext text/x-wiki Image_internship_4 449c3067c4d77fa34856f1ba5ff25dde474346ff 0 16 406 403 2022-11-22T18:35:18Z Glods 29 wikitext text/x-wiki '''5/6 months M2 internship: Development of a concentric tube continuous robot prototype and characterization of its geometrical behavior'''<br> <br> Continuous robots are an opportunity to design systems with a high degree of mobilities, a small size and operating with flexibility. Thanks to such characteristics, these systems are suitable to develop new human-machine interactions, especially for minimally invasive medical procedures. One of the most promising designs is the Concentric Tubes Robot (CTR) due to its high capacity of miniaturization. During the PhD thesis of Guillaume Lods, some works have been made on the direct geometrical model of these robots. <br> <div style="position: relative; overflow: hidden; height: 300px;"> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Image internship 1.jpg|right|500px| RADIUS 1]]</div> <div style="position: relative; height: 1%;">[[Image:Image internship 2.jpg|right|500px| RADIUS 2]]</div> <div style="position: relative; height: 1%;">[[Image:Image internship 3.jpg|right|500px| RADIUS 1]]</div> <div style="position: relative; height: 1%;">[[Image:Image internship 4.jpg|right|500px| RADIUS 2]]</div> </slideshow> </div> </div> The objective of this internship is to evaluate the mechanical model using an experimental setup in order to verify the assumptions made during the theoretical development : <br> - Conduct a literature review on the manufacture and actuation of concentric tube robot <br> - Propose an experimental bench design including a CTR as well as solutions for the acquisition of the real shape of the robot <br> - Build the whole system (mechanical, control and acquisition) <br> - Carry out a characterization of the direct geometric model using the acquired measurements <br> <br> In order to fully respond to these challenges, some skills are expected for the students applying for this offer : <br> - Demonstrate interest for robotics research <br> - Strong skills in mechanical CAD and mechatronics <br> - Some background in 3D printing, realization of robotic systems, and image processing will be ap- preciated but are not required <br> <br> For more informations, please read the attached documents : '''[https://seafile.unistra.fr/f/d5dd646cb08f4e2fac1a/ French version]''' or '''[https://seafile.unistra.fr/f/6821d2b4d818429f9396/ English version]'''. <br> <br> Supervisor: Guillaume LODS [mailto:g.lods@unistra.fr Contact] <br> Place: ICube @IHU Strasbourg (RDH). '''5/6 months M2 internship: Registration of biomechanical models with ultrasound images (RADIUS project)'''<br> Image-guided percutaneous methods have been progressively recognized as an efficient alternative for treating Hepatocellular Carcinoma (HCC). Non-invasive imaging techniques are required to control the needle's placement efficiently. The most spread imaging modality is Ultrasounds (US). This project aims at developing a novel solution for needle steering using intra-operative US images and non-rigid registration of a biomechanical model. We are looking for a trainee for a period of 5 to 6 months (between February and August 2023), level Master 2 or engineering school around the medical and surgical simulation for the insertion of needles guided by the image. This internship will concern the registration of the FE model. The biomechanical models will be used to extrapolate the 3D displacement of the volume, even where no imaging data are available. Such an approach can then be used to display with Augmented Reality (AR) 3D information of the organ on top of medical images and automatic needle steering. For this purpose, we will develop solutions to localize the probe and the US image's plane with an external infrared camera system (Optitrack). <div style="position: relative; overflow: hidden; height: 300px;"> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:TR1.jpg|right|500px| RADIUS 1]]</div> <div style="position: relative; height: 1%;">[[Image:TR2.jpg|right|500px| RADIUS 2]]</div> <div style="position: relative; height: 1%;">[[Image:TR3.jpg|right|500px| RADIUS 3]]</div> </slideshow> </div> </div> Profile required: Very good level of programming in C++ / Good knowledge of image registration and biomechanical simulation / Experience in SOFA is a plus. Supervision: Dr. Hadrien Courtecuisse (CR CNRS) / Dr. Simon Chatelin (CR CNRS), Location: ICube (RDH and MLMS teams), civil hospital site (IHU and Clovis Vincent). [mailto:hcourtecuisse@unistra.fr Contact] '''[https://hadrien.courtecuisse.cnrs.fr/wp-content/uploads/job/stage2023.pdf Click Here for More details]''' '''[http://camma.u-strasbg.fr/opportunities CAMMA group]''': Computational Analysis and Modeling of Medical Activities<br> We are looking for motivated and talented students with knowledge in computer vision and/or machine learning who can contribute to the development of our computer vision system for the operating room. Please feel free to contact Nicolas Padoy if you are interested to do your master's thesis or an internship with us (funding of ~500Euros/month will be provided during 4 to 6 months). The successful candidates will be part of a dynamic and international research group hosted within IHU Strasbourg , at the University Hospital of Strasbourg. They will thereby have direct contact with clinicians, industrial partners and also have access to an exceptional research environment. The CAMMA project is supported by the laboratory of excellence CAMI, the IdEx Unistra and IHU Strasbourg. 0ee9053befe6a8099f2ec58b78a2fab627396f5c 407 406 2022-11-22T18:40:15Z Glods 29 wikitext text/x-wiki '''5/6 months M2 internship: Development of a concentric tube continuous robot prototype and characterization of its geometrical behavior'''<br> <br> Continuous robots are an opportunity to design systems with a high degree of mobilities, a small size and operating with flexibility. Thanks to such characteristics, these systems are suitable to develop new human-machine interactions, especially for minimally invasive medical procedures. One of the most promising designs is the Concentric Tubes Robot (CTR) due to its high capacity of miniaturization. During the PhD thesis of Guillaume Lods, some works have been made on the direct geometrical model of these robots. <br> <div style="position: relative; overflow: hidden; height: 420px;"> <div id="wrapper"> <slideshow transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Image internship 1.jpg| center |500px| RADIUS 1]]</div> <div style="position: relative; height: 1%;">[[Image:Image internship 2.jpg| center |500px| RADIUS 2]]</div> <div style="position: relative; height: 1%;">[[Image:Image internship 3.jpg| center |500px| RADIUS 1]]</div> <div style="position: relative; height: 1%;">[[Image:Image internship 4.jpg| center |500px| RADIUS 2]]</div> </slideshow> </div> </div> The objective of this internship is to evaluate the mechanical model using an experimental setup in order to verify the assumptions made during the theoretical development : <br> - Conduct a literature review on the manufacture and actuation of concentric tube robot <br> - Propose an experimental bench design including a CTR as well as solutions for the acquisition of the real shape of the robot <br> - Build the whole system (mechanical, control and acquisition) <br> - Carry out a characterization of the direct geometric model using the acquired measurements <br> <br> In order to fully respond to these challenges, some skills are expected for the students applying for this offer : <br> - Demonstrate interest for robotics research <br> - Strong skills in mechanical CAD and mechatronics <br> - Some background in 3D printing, realization of robotic systems, and image processing will be ap- preciated but are not required <br> <br> For more informations, please read the attached documents : '''[https://seafile.unistra.fr/f/d5dd646cb08f4e2fac1a/ French version]''' or '''[https://seafile.unistra.fr/f/6821d2b4d818429f9396/ English version]'''. <br> <br> Supervisor: Guillaume LODS [mailto:g.lods@unistra.fr Contact] <br> Place: ICube @IHU Strasbourg (RDH).<br> <br> '''5/6 months M2 internship: Registration of biomechanical models with ultrasound images (RADIUS project)'''<br> Image-guided percutaneous methods have been progressively recognized as an efficient alternative for treating Hepatocellular Carcinoma (HCC). Non-invasive imaging techniques are required to control the needle's placement efficiently. The most spread imaging modality is Ultrasounds (US). This project aims at developing a novel solution for needle steering using intra-operative US images and non-rigid registration of a biomechanical model. We are looking for a trainee for a period of 5 to 6 months (between February and August 2023), level Master 2 or engineering school around the medical and surgical simulation for the insertion of needles guided by the image. This internship will concern the registration of the FE model. The biomechanical models will be used to extrapolate the 3D displacement of the volume, even where no imaging data are available. Such an approach can then be used to display with Augmented Reality (AR) 3D information of the organ on top of medical images and automatic needle steering. For this purpose, we will develop solutions to localize the probe and the US image's plane with an external infrared camera system (Optitrack). <div style="position: relative; overflow: hidden; height: 300px;"> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:TR1.jpg|right|500px| RADIUS 1]]</div> <div style="position: relative; height: 1%;">[[Image:TR2.jpg|right|500px| RADIUS 2]]</div> <div style="position: relative; height: 1%;">[[Image:TR3.jpg|right|500px| RADIUS 3]]</div> </slideshow> </div> </div> Profile required: Very good level of programming in C++ / Good knowledge of image registration and biomechanical simulation / Experience in SOFA is a plus. Supervision: Dr. Hadrien Courtecuisse (CR CNRS) / Dr. Simon Chatelin (CR CNRS), Location: ICube (RDH and MLMS teams), civil hospital site (IHU and Clovis Vincent). [mailto:hcourtecuisse@unistra.fr Contact] '''[https://hadrien.courtecuisse.cnrs.fr/wp-content/uploads/job/stage2023.pdf Click Here for More details]''' '''[http://camma.u-strasbg.fr/opportunities CAMMA group]''': Computational Analysis and Modeling of Medical Activities<br> We are looking for motivated and talented students with knowledge in computer vision and/or machine learning who can contribute to the development of our computer vision system for the operating room. Please feel free to contact Nicolas Padoy if you are interested to do your master's thesis or an internship with us (funding of ~500Euros/month will be provided during 4 to 6 months). The successful candidates will be part of a dynamic and international research group hosted within IHU Strasbourg , at the University Hospital of Strasbourg. They will thereby have direct contact with clinicians, industrial partners and also have access to an exceptional research environment. The CAMMA project is supported by the laboratory of excellence CAMI, the IdEx Unistra and IHU Strasbourg. 533e136db9ad445c0cb47f668218400c04f3de5d 408 407 2022-11-23T07:54:45Z B.rosa 6 wikitext text/x-wiki '''5/6 months M2 internship: Development of a concentric tube continuous robot prototype and characterization of its geometrical behavior'''<br> <br> Continuum robots are an opportunity to design systems with a high degree of mobility, a small size, and operating with flexibility. Thanks to such characteristics, these systems are suitable to develop new human-machine interactions, especially for minimally invasive medical procedures. One of the most promising designs is the Concentric Tubes Robot (CTR) due to its high capacity of miniaturization. In the PhD thesis of Guillaume Lods, we work on the direct geometrical model of these robots. <br> <div style="position: relative; overflow: hidden; height: 420px;"> <div id="wrapper"> <slideshow transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:Image internship 1.jpg| center |500px| RADIUS 1]]</div> <div style="position: relative; height: 1%;">[[Image:Image internship 2.jpg| center |500px| RADIUS 2]]</div> <div style="position: relative; height: 1%;">[[Image:Image internship 3.jpg| center |500px| RADIUS 1]]</div> <div style="position: relative; height: 1%;">[[Image:Image internship 4.jpg| center |500px| RADIUS 2]]</div> </slideshow> </div> </div> The objective of this internship is to evaluate the mechanical model using an experimental setup in order to verify the assumptions made during the theoretical development : <br> - Conduct a literature review on the manufacturing and actuation of concentric tube robot <br> - Propose an experimental bench design including a CTR as well as solutions for the acquisition of the real shape of the robot <br> - Build the whole system (mechanical, control and acquisition) <br> - Carry out a characterization of the direct geometric model using the acquired measurements <br> <br> In order to fully respond to these challenges, some skills are expected for the students applying to this offer : <br> - Demonstrate interest for robotics research <br> - Strong skills in mechanical CAD and mechatronics <br> - Some background in 3D printing, realization of robotic systems, and image processing will be appreciated but is not a requirement <br> <br> For more information, please read the attached documents : '''[https://seafile.unistra.fr/f/d5dd646cb08f4e2fac1a/ French version]''' or '''[https://seafile.unistra.fr/f/6821d2b4d818429f9396/ English version]'''. <br> <br> Supervisor: Guillaume LODS [mailto:g.lods@unistra.fr Contact] <br> Place: ICube @IHU Strasbourg (RDH).<br> <br> '''5/6 months M2 internship: Registration of biomechanical models with ultrasound images (RADIUS project)'''<br> Image-guided percutaneous methods have been progressively recognized as an efficient alternative for treating Hepatocellular Carcinoma (HCC). Non-invasive imaging techniques are required to control the needle's placement efficiently. The most spread imaging modality is Ultrasounds (US). This project aims at developing a novel solution for needle steering using intra-operative US images and non-rigid registration of a biomechanical model. We are looking for a trainee for a period of 5 to 6 months (between February and August 2023), level Master 2 or engineering school around the medical and surgical simulation for the insertion of needles guided by the image. This internship will concern the registration of the FE model. The biomechanical models will be used to extrapolate the 3D displacement of the volume, even where no imaging data are available. Such an approach can then be used to display with Augmented Reality (AR) 3D information of the organ on top of medical images and automatic needle steering. For this purpose, we will develop solutions to localize the probe and the US image's plane with an external infrared camera system (Optitrack). <div style="position: relative; overflow: hidden; height: 300px;"> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:TR1.jpg|right|500px| RADIUS 1]]</div> <div style="position: relative; height: 1%;">[[Image:TR2.jpg|right|500px| RADIUS 2]]</div> <div style="position: relative; height: 1%;">[[Image:TR3.jpg|right|500px| RADIUS 3]]</div> </slideshow> </div> </div> Profile required: Very good level of programming in C++ / Good knowledge of image registration and biomechanical simulation / Experience in SOFA is a plus. Supervision: Dr. Hadrien Courtecuisse (CR CNRS) / Dr. Simon Chatelin (CR CNRS), Location: ICube (RDH and MLMS teams), civil hospital site (IHU and Clovis Vincent). [mailto:hcourtecuisse@unistra.fr Contact] '''[https://hadrien.courtecuisse.cnrs.fr/wp-content/uploads/job/stage2023.pdf Click Here for More details]''' '''[http://camma.u-strasbg.fr/opportunities CAMMA group]''': Computational Analysis and Modeling of Medical Activities<br> We are looking for motivated and talented students with knowledge in computer vision and/or machine learning who can contribute to the development of our computer vision system for the operating room. Please feel free to contact Nicolas Padoy if you are interested to do your master's thesis or an internship with us (funding of ~500Euros/month will be provided during 4 to 6 months). The successful candidates will be part of a dynamic and international research group hosted within IHU Strasbourg , at the University Hospital of Strasbourg. They will thereby have direct contact with clinicians, industrial partners and also have access to an exceptional research environment. The CAMMA project is supported by the laboratory of excellence CAMI, the IdEx Unistra and IHU Strasbourg. 0714942fb36c52dfcadfda0035c48263cb3e6127 0 46 409 169 2022-11-27T21:13:10Z Nageotte 14 /* Invited talks */ wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Associate Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> =Curriculum Vitae= * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shool, Strasbourg. Major in robotics. =Responsibilities= * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In TPS, Healthtech Master and Third year TIS DTMI (M2 level), === * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation de pose, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> === TPS, M2 IRIV / IRMC === * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> === Electronic systems and Mechatronics Bachelor (Third year) === * Course and tutorials on continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> === Micro and Nano Electronics Master (First year) === * Course and tutorials on discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === TPS FIP Third year === * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses supervision (defended theses) ** Gaelle Thomas, defended on October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Laure-Anaïs Chanel, thèse soutenue en mars 2016 (Traitement par HIFU robotisé sous imagerie échographique, funded by CAMI labex) ** Paolo Cabras, defendd in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021 ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), since October 2019 (Shared control for minimally invasive surgery) * Co-supervisions: ** Fernando Gonzalez Herrera, (with Benoit Rosa,Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020 ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University Verona), since October 2019 ** Paul Mondou (with Jonathan Vappou and Benoit Larrat (CEA Neurospin)), funded by CAMI Labex, since October 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** François Lavieille ** Thibault Poignonec ** Xuan Thao Ha ** Mohamed Amine Falek == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | cf4f64c2b806fd16fab92c596f8ec510aca07468 413 409 2023-03-06T15:03:40Z Nageotte 14 wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Associate Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> =News : Two open PhD positions in Medical robotics= == Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening == PhD Project short description: The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing Working Environment The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. Application We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 =Curriculum Vitae= * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shool, Strasbourg. Major in robotics. =Responsibilities= * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In TPS, Healthtech Master and Third year TIS DTMI (M2 level), === * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation de pose, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> === TPS, M2 IRIV / IRMC === * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> === Electronic systems and Mechatronics Bachelor (Third year) === * Course and tutorials on continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> === Micro and Nano Electronics Master (First year) === * Course and tutorials on discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === TPS FIP Third year === * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses supervision (defended theses) ** Gaelle Thomas, defended on October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Laure-Anaïs Chanel, thèse soutenue en mars 2016 (Traitement par HIFU robotisé sous imagerie échographique, funded by CAMI labex) ** Paolo Cabras, defendd in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021 ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), since October 2019 (Shared control for minimally invasive surgery) * Co-supervisions: ** Fernando Gonzalez Herrera, (with Benoit Rosa,Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020 ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University Verona), since October 2019 ** Paul Mondou (with Jonathan Vappou and Benoit Larrat (CEA Neurospin)), funded by CAMI Labex, since October 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** François Lavieille ** Thibault Poignonec ** Xuan Thao Ha ** Mohamed Amine Falek == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | 0d4bb9479d358649f1d12f6ee73d738b3cbf81fa 414 413 2023-03-06T15:33:40Z Nageotte 14 wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Associate Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> =News : Two open PhD positions in Medical robotics= == == PhD Project short description: Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing Working Environment The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. Application We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 == Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening == PhD Project short description: The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing Working Environment The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. Application We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 =Curriculum Vitae= * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shool, Strasbourg. Major in robotics. =Responsibilities= * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In TPS, Healthtech Master and Third year TIS DTMI (M2 level), === * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation de pose, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> === TPS, M2 IRIV / IRMC === * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> === Electronic systems and Mechatronics Bachelor (Third year) === * Course and tutorials on continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> === Micro and Nano Electronics Master (First year) === * Course and tutorials on discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === TPS FIP Third year === * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses supervision (defended theses) ** Gaelle Thomas, defended on October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Laure-Anaïs Chanel, thèse soutenue en mars 2016 (Traitement par HIFU robotisé sous imagerie échographique, funded by CAMI labex) ** Paolo Cabras, defendd in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021 ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), since October 2019 (Shared control for minimally invasive surgery) * Co-supervisions: ** Fernando Gonzalez Herrera, (with Benoit Rosa,Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020 ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University Verona), since October 2019 ** Paul Mondou (with Jonathan Vappou and Benoit Larrat (CEA Neurospin)), funded by CAMI Labex, since October 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** François Lavieille ** Thibault Poignonec ** Xuan Thao Ha ** Mohamed Amine Falek == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | 06569a4d54b18fd393be76a10f257e38c4d4d5e7 415 414 2023-03-06T18:11:21Z Nageotte 14 wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Associate Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> =News : Two open PhD positions in Medical robotics= == Vision-based Trajectory Tracking Robust to Modeling Errors == * PhD Project short description: Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing * Working Environment The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. * Application We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 == Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening == PhD Project short description: The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing Working Environment The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. Application We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 =Curriculum Vitae= * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shool, Strasbourg. Major in robotics. =Responsibilities= * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In TPS, Healthtech Master and Third year TIS DTMI (M2 level), === * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation de pose, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> === TPS, M2 IRIV / IRMC === * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> === Electronic systems and Mechatronics Bachelor (Third year) === * Course and tutorials on continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> === Micro and Nano Electronics Master (First year) === * Course and tutorials on discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === TPS FIP Third year === * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses supervision (defended theses) ** Gaelle Thomas, defended on October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Laure-Anaïs Chanel, thèse soutenue en mars 2016 (Traitement par HIFU robotisé sous imagerie échographique, funded by CAMI labex) ** Paolo Cabras, defendd in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021 ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), since October 2019 (Shared control for minimally invasive surgery) * Co-supervisions: ** Fernando Gonzalez Herrera, (with Benoit Rosa,Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020 ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University Verona), since October 2019 ** Paul Mondou (with Jonathan Vappou and Benoit Larrat (CEA Neurospin)), funded by CAMI Labex, since October 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** François Lavieille ** Thibault Poignonec ** Xuan Thao Ha ** Mohamed Amine Falek == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | b052676e093c83541404c9b846fd338f4d49e23d 416 415 2023-03-06T18:14:05Z Nageotte 14 /* Courses */ wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Associate Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> =News : Two open PhD positions in Medical robotics= == Vision-based Trajectory Tracking Robust to Modeling Errors == * PhD Project short description: Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing * Working Environment The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. * Application We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 == Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening == PhD Project short description: The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing Working Environment The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. Application We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 =Curriculum Vitae= * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shool, Strasbourg. Major in robotics. =Responsibilities= * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In TPS, Healthtech Master and Third year TIS DTMI (M2 level), === * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation de pose, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> === TPS, M2 IRIV / IRMC === * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> === TPS, Second year and M1 IRIV === * Tutorials on OpenCV * Computer vision course (mosaicking, reconstruction of planar objects) === Electronic systems and Mechatronics Bachelor (Third year) === * Course and tutorials on continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> === Micro and Nano Electronics Master (First year) === * Course and tutorials on discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === TPS FIP Third year === * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses supervision (defended theses) ** Gaelle Thomas, defended on October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Laure-Anaïs Chanel, thèse soutenue en mars 2016 (Traitement par HIFU robotisé sous imagerie échographique, funded by CAMI labex) ** Paolo Cabras, defendd in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021 ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), since October 2019 (Shared control for minimally invasive surgery) * Co-supervisions: ** Fernando Gonzalez Herrera, (with Benoit Rosa,Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020 ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University Verona), since October 2019 ** Paul Mondou (with Jonathan Vappou and Benoit Larrat (CEA Neurospin)), funded by CAMI Labex, since October 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** François Lavieille ** Thibault Poignonec ** Xuan Thao Ha ** Mohamed Amine Falek == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | fa126c20efe7df912bb27d37834739cef05f104e 417 416 2023-03-06T18:14:54Z Nageotte 14 /* Vision-based Trajectory Tracking Robust to Modeling Errors */ wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Associate Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> =News : Two open PhD positions in Medical robotics= == Vision-based Trajectory Tracking Robust to Modeling Errors == === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 == Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening == PhD Project short description: The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing Working Environment The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. Application We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 =Curriculum Vitae= * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shool, Strasbourg. Major in robotics. =Responsibilities= * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In TPS, Healthtech Master and Third year TIS DTMI (M2 level), === * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation de pose, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> === TPS, M2 IRIV / IRMC === * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> === TPS, Second year and M1 IRIV === * Tutorials on OpenCV * Computer vision course (mosaicking, reconstruction of planar objects) === Electronic systems and Mechatronics Bachelor (Third year) === * Course and tutorials on continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> === Micro and Nano Electronics Master (First year) === * Course and tutorials on discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === TPS FIP Third year === * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses supervision (defended theses) ** Gaelle Thomas, defended on October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Laure-Anaïs Chanel, thèse soutenue en mars 2016 (Traitement par HIFU robotisé sous imagerie échographique, funded by CAMI labex) ** Paolo Cabras, defendd in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021 ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), since October 2019 (Shared control for minimally invasive surgery) * Co-supervisions: ** Fernando Gonzalez Herrera, (with Benoit Rosa,Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020 ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University Verona), since October 2019 ** Paul Mondou (with Jonathan Vappou and Benoit Larrat (CEA Neurospin)), funded by CAMI Labex, since October 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** François Lavieille ** Thibault Poignonec ** Xuan Thao Ha ** Mohamed Amine Falek == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | 8cd8346bdefa2c5fbe2220859197d8fb8f5338a2 418 417 2023-03-06T18:15:38Z Nageotte 14 /* Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening */ wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Associate Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> =News : Two open PhD positions in Medical robotics= == Vision-based Trajectory Tracking Robust to Modeling Errors == === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 == Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening == === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 =Curriculum Vitae= * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shool, Strasbourg. Major in robotics. =Responsibilities= * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In TPS, Healthtech Master and Third year TIS DTMI (M2 level), === * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation de pose, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> === TPS, M2 IRIV / IRMC === * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> === TPS, Second year and M1 IRIV === * Tutorials on OpenCV * Computer vision course (mosaicking, reconstruction of planar objects) === Electronic systems and Mechatronics Bachelor (Third year) === * Course and tutorials on continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> === Micro and Nano Electronics Master (First year) === * Course and tutorials on discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === TPS FIP Third year === * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses supervision (defended theses) ** Gaelle Thomas, defended on October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Laure-Anaïs Chanel, thèse soutenue en mars 2016 (Traitement par HIFU robotisé sous imagerie échographique, funded by CAMI labex) ** Paolo Cabras, defendd in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021 ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), since October 2019 (Shared control for minimally invasive surgery) * Co-supervisions: ** Fernando Gonzalez Herrera, (with Benoit Rosa,Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020 ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University Verona), since October 2019 ** Paul Mondou (with Jonathan Vappou and Benoit Larrat (CEA Neurospin)), funded by CAMI Labex, since October 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** François Lavieille ** Thibault Poignonec ** Xuan Thao Ha ** Mohamed Amine Falek == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | 8f10e7eafefb82a220d28aff630f7ab9104cda2d 419 418 2023-03-07T13:18:54Z Nageotte 14 /* Vision-based Trajectory Tracking Robust to Modeling Errors */ wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Associate Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> =News : Two open PhD positions in Medical robotics= == Vision-based Trajectory Tracking Robust to Modeling Errors == === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 == Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening == === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 =Curriculum Vitae= * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shool, Strasbourg. Major in robotics. =Responsibilities= * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In TPS, Healthtech Master and Third year TIS DTMI (M2 level), === * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation de pose, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> === TPS, M2 IRIV / IRMC === * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> === TPS, Second year and M1 IRIV === * Tutorials on OpenCV * Computer vision course (mosaicking, reconstruction of planar objects) === Electronic systems and Mechatronics Bachelor (Third year) === * Course and tutorials on continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> === Micro and Nano Electronics Master (First year) === * Course and tutorials on discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === TPS FIP Third year === * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses supervision (defended theses) ** Gaelle Thomas, defended on October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Laure-Anaïs Chanel, thèse soutenue en mars 2016 (Traitement par HIFU robotisé sous imagerie échographique, funded by CAMI labex) ** Paolo Cabras, defendd in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021 ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), since October 2019 (Shared control for minimally invasive surgery) * Co-supervisions: ** Fernando Gonzalez Herrera, (with Benoit Rosa,Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020 ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University Verona), since October 2019 ** Paul Mondou (with Jonathan Vappou and Benoit Larrat (CEA Neurospin)), funded by CAMI Labex, since October 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** François Lavieille ** Thibault Poignonec ** Xuan Thao Ha ** Mohamed Amine Falek == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | 5a31d304282eb6f8bd3afb56b7fd90f20d57402e 6 85 410 2022-11-27T21:14:17Z Nageotte 14 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 0 43 411 168 2022-11-27T21:18:23Z Nageotte 14 wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Associate Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> =Curriculum Vitae= * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shool, Strasbourg. Major in robotics. =Responsibilities= * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In TPS, Healthtech Master and Third year TIS DTMI (M2 level), === * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation de pose, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> === TPS, M2 IRIV / IRMC === * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> === Electronic systems and Mechatronics Bachelor (Third year) === * Course and tutorials on continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> === Micro and Nano Electronics Master (First year) === * Course and tutorials on discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === TPS FIP Third year === * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses supervision (defended theses) ** Gaelle Thomas, defended on October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Laure-Anaïs Chanel, thèse soutenue en mars 2016 (Traitement par HIFU robotisé sous imagerie échographique, funded by CAMI labex) ** Paolo Cabras, defendd in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021 ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), since October 2019 (Shared control for minimally invasive surgery) * Co-supervisions: ** Fernando Gonzalez Herrera, (with Benoit Rosa,Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020 ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University Verona), since October 2019 ** Paul Mondou (with Jonathan Vappou and Benoit Larrat (CEA Neurospin)), funded by CAMI Labex, since October 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** François Lavieille ** Thibault Poignonec ** Xuan Thao Ha ** Mohamed Amine Falek == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | cf4f64c2b806fd16fab92c596f8ec510aca07468 0 19 412 389 2022-11-28T13:04:46Z Jvappou 10 wikitext text/x-wiki {|- | [[File:Photo vappou_resp.jpg|120x180px]] || || '''RDH team head: Dr. Jonathan VAPPOU''', CNRS <br> IHU de Strasbourg, RDH/ICube <br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel: +33 3 90 41 35 47<br> Email: jvappou(at)unistra(dot)fr<br> [https://orcid.org/0000-0002-2156-0619 ORCID]<br> <br> |- | [[File:Photo bbayle.jpg|120x180px]] || || <br> '''RDH team head: Prof. [https://rdh.icube.unistra.fr/index.php/Bernard_Bayle Bernard BAYLE]''', University of Strasbourg <br> IHU de Strasbourg, RDH/ICube <br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel: +33 3 90 41 35 46<br> Email: bernard(dot)bayle(at)unistra(dot)fr<br> [https://orcid.org/0000-0003-4728-8593 ORCID]<br> <br> |} 4a1ff2c4247040f8c2aa930f65e8d0e64c9720fc 0 17 420 69 2023-03-07T13:20:40Z Nageotte 14 wikitext text/x-wiki = Vision-based Trajectory Tracking Robust to Modeling Errors = === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 = Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening = === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 f149492765e191a797fa6ae459e41e7cc4db5c55 0 86 421 2023-03-15T09:55:22Z Maintenance script 31 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 422 421 2023-03-15T09:58:35Z Maintenance script 31 wikitext text/x-wiki == Pr. Michel de Mathelin == '''Strasbourg University ([http://www.unistra.fr/ Unistra])''' '''Télécom Physique Strasbourg ([http://www.telecom-physique.fr/ Télécom Physique Strasbourg])''' {| |[[Image:de-mathelin.jpg]] |} {| | ICube - UMR CNRS 7357 Télécom Physique Strasbourg, 300 Bd S. Brant, CS 10413, F-67412 Illkirch cedex Tel: +33 (0)3 68 85 46 16 - Fax: +33 (0)3 68 85 44 55 ------- IRCAD 1, Place de l'Hôpital, F-67091 Strasbourg cedex Tel: +33 3 88 11 91 33 - Fax: +33 3 88 11 91 78 ------- [mailto:demathelin@unistra.fr demathelin@unistra.fr] http://icube-avr.unistra.fr/fr/index.php/Michel_de_Mathelin_personal_web_page |} I am the Director of [http://icube.unistra.fr ICube], Strasbourg University Engineering, Computer Science and Imaging laboratory since january 1st 2013. I belong to the the robotics research team ([http://icube-avr.unistra.fr équipe AVR]), and to the ''Institut de Recherche sur les Cancers de l'Appareil Digestif'' ([http://www.ircad.fr/ IRCAD]), where I have been the head of robotics research for 15 years. The robotics research team is part of the [http://www.cami-labex.fr '''Labex CAMI'''] and of the IHU of Strasbourg on Image Guided Surgery. I am the coordinator of the Medical Imaging and Surgical Robotics (IRMC) transversal research program inside ICube. I am the coordinator of [http://equipex-robotex.fr '''Robotex'''], the national network of robotics platforms, selected in 2011 as a national equipment of excellence. I am co-founder of [http://axilum-robotics.fr '''Axilum Robotics'''], a startup in medical robotics developping a robotic system for transcranial magnetic stimulation. I have been Scientific Delegate of the National Center for Scientific Research ([http://www.cnrs.fr/insis CNRS-INSIS]) from january 2012 to september 2014. Since January 2017, I am the Vice-President of the University of Strasbourg for Innovation and Technology Transfer. My research interests cover the following area: - Medical robotics - Image-guided surgery - Teleoperation - Adaptive and robust control [[Biography of Michel de Mathelin|'''Biography''']] [[Research projects|'''Research''']] [[Teaching/Enseignements de Michel de Mathelin|'''Teaching''']] [[Students|'''Students''']] === Publications === [[Media:List-of-publications-mdm-04-2015.pdf|'''List of publications''']] '''Recent publications:''' - Zorn L., F. Nageotte, P. Zanne, A. Legner, B. Dallemagne, J. Marescaux, M. de Mathelin. A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD, IEEE Transactions on Biomedical Engineering, Institute of Electrical and Electronics Engineers (IEEE), Vol. 65(4):797-808, April 2018. ( IF : 4.288, SNIP : 2.072, SJR : 1.267 ) - Abdelaziz S., L. Barbé, P. Renaud, M. de Mathelin, B. Bayle. Control of cable-driven manipulators in the presence of friction, Mechanism and Machine Theory, Elsevier, Vol. 107:139–147, January 2017. ( IF : 2.796, SNIP : 2.505, SJR : 1.301 ) - Batmaz A., M. de Mathelin, B. Dresp. Seeing virtual while acting real: Visual display and strategy effects on the time and precision of eye-hand coordination, PLoS ONE, Public Library of Science, Vol. 12(8):e0183789, August 2017. ( IF : 2.766, SNIP : 1.111, SJR : 1.164 ) - Corbin N., É. Breton, M. de Mathelin, J. Vappou. K-space data processing for magnetic resonance elastography (MRE), Magnetic Resonance Materials in Physics, Biology and Medicine, Springer Verlag (Germany), Vol. 30(2):203-213, April 2017. ( IF : 1.832, SNIP : 0.537, SJR : 0.707 ) - Kadkhodamohammadi A., A. Gangi, M. de Mathelin, N. Padoy. Articulated Clinician Detection Using 3D Pictorial Structures on RGB-D Data, Medical Image Analysis, Elsevier, Vol. 35:215-224, 2017. ( IF : 5.356, SNIP : 2.877, SJR : 1.928 ) - Twinanda A., S. Shehata, D. Mutter, J. Marescaux, M. de Mathelin, N. Padoy. EndoNet: A Deep Architecture for Recognition Tasks on Laparoscopic Videos, IEEE Transactions on Medical Imaging, Institute of Electrical and Electronics Engineers (IEEE), pp. 86-97, 2017. ( IF : 6.131, SNIP : 2.874, SJR : 1.895 ) a64bed7f3b360608d330c351fb2dd77d218ba7dc 423 422 2023-03-15T09:59:58Z Agerard 32 /* Pr. Michel de Mathelin */ wikitext text/x-wiki == Pr. Michel de Mathelin == '''Strasbourg University ([http://www.unistra.fr/ Unistra])''' '''Télécom Physique Strasbourg ([http://www.telecom-physique.fr/ Télécom Physique Strasbourg])''' {| |[[Image:de-mathelin.jpg]] |} {| | ICube - UMR CNRS 7357 Télécom Physique Strasbourg, 300 Bd S. Brant, CS 10413, F-67412 Illkirch cedex Tel: +33 (0)3 68 85 46 16 - Fax: +33 (0)3 68 85 44 55 ------- IRCAD 1, Place de l'Hôpital, F-67091 Strasbourg cedex Tel: +33 3 88 11 91 33 - Fax: +33 3 88 11 91 78 ------- [mailto:demathelin@unistra.fr demathelin@unistra.fr] https://rdh.icube.unistra.fr//Michel_de_Mathelin_personal_web_page |} I am the Director of [http://icube.unistra.fr ICube], Strasbourg University Engineering, Computer Science and Imaging laboratory since january 1st 2013. I belong to the the robotics research team ([http://icube-avr.unistra.fr équipe AVR]), and to the ''Institut de Recherche sur les Cancers de l'Appareil Digestif'' ([http://www.ircad.fr/ IRCAD]), where I have been the head of robotics research for 15 years. The robotics research team is part of the [http://www.cami-labex.fr '''Labex CAMI'''] and of the IHU of Strasbourg on Image Guided Surgery. I am the coordinator of the Medical Imaging and Surgical Robotics (IRMC) transversal research program inside ICube. I am the coordinator of [http://equipex-robotex.fr '''Robotex'''], the national network of robotics platforms, selected in 2011 as a national equipment of excellence. I am co-founder of [http://axilum-robotics.fr '''Axilum Robotics'''], a startup in medical robotics developping a robotic system for transcranial magnetic stimulation. I have been Scientific Delegate of the National Center for Scientific Research ([http://www.cnrs.fr/insis CNRS-INSIS]) from january 2012 to september 2014. Since January 2017, I am the Vice-President of the University of Strasbourg for Innovation and Technology Transfer. My research interests cover the following area: - Medical robotics - Image-guided surgery - Teleoperation - Adaptive and robust control [[Biography of Michel de Mathelin|'''Biography''']] [[Research projects|'''Research''']] [[Teaching/Enseignements de Michel de Mathelin|'''Teaching''']] [[Students|'''Students''']] === Publications === [[Media:List-of-publications-mdm-04-2015.pdf|'''List of publications''']] '''Recent publications:''' - Zorn L., F. Nageotte, P. Zanne, A. Legner, B. Dallemagne, J. Marescaux, M. de Mathelin. A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD, IEEE Transactions on Biomedical Engineering, Institute of Electrical and Electronics Engineers (IEEE), Vol. 65(4):797-808, April 2018. ( IF : 4.288, SNIP : 2.072, SJR : 1.267 ) - Abdelaziz S., L. Barbé, P. Renaud, M. de Mathelin, B. Bayle. Control of cable-driven manipulators in the presence of friction, Mechanism and Machine Theory, Elsevier, Vol. 107:139–147, January 2017. ( IF : 2.796, SNIP : 2.505, SJR : 1.301 ) - Batmaz A., M. de Mathelin, B. Dresp. Seeing virtual while acting real: Visual display and strategy effects on the time and precision of eye-hand coordination, PLoS ONE, Public Library of Science, Vol. 12(8):e0183789, August 2017. ( IF : 2.766, SNIP : 1.111, SJR : 1.164 ) - Corbin N., É. Breton, M. de Mathelin, J. Vappou. K-space data processing for magnetic resonance elastography (MRE), Magnetic Resonance Materials in Physics, Biology and Medicine, Springer Verlag (Germany), Vol. 30(2):203-213, April 2017. ( IF : 1.832, SNIP : 0.537, SJR : 0.707 ) - Kadkhodamohammadi A., A. Gangi, M. de Mathelin, N. Padoy. Articulated Clinician Detection Using 3D Pictorial Structures on RGB-D Data, Medical Image Analysis, Elsevier, Vol. 35:215-224, 2017. ( IF : 5.356, SNIP : 2.877, SJR : 1.928 ) - Twinanda A., S. Shehata, D. Mutter, J. Marescaux, M. de Mathelin, N. Padoy. EndoNet: A Deep Architecture for Recognition Tasks on Laparoscopic Videos, IEEE Transactions on Medical Imaging, Institute of Electrical and Electronics Engineers (IEEE), pp. 86-97, 2017. ( IF : 6.131, SNIP : 2.874, SJR : 1.895 ) 30aac903651cb752f9632e77fa52e8a999d8e8c4 0 87 424 2023-03-15T10:00:55Z Maintenance script 31 wikitext text/x-wiki == Education == - ''Habilitation à diriger des recherches'', Université Louis Pasteur - Strasbourg University, France, January 1999. - Ph.D. in Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, PA, USA, January 1993. - M.S. in Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, PA, USA, December 1988. - Electrical Engineering 5-years degree, Louvain University, Louvain-la-Neuve, Belgium, completed with ''La plus Grande Distinction'', June 1987. == Professional Experience == - Full Professor at Strasbourg University, Télécom Physique Strasbourg (former ENSPS), since september 1999. - Associate Professor (''Maître de Conférences'') at Strasbourg University, Physics Department, from september 1993 to august 1999. - Researcher at the ''Chaire d’Electricité de l’Ecole Polytechnique de l’Ecole Royale Militaire'' in Brussels (Belgium), from september 1991 to august 1992. == Responsibilities == - Vice-President for Innovation and Technology Transfer of the University of Strasbourg since January 2017. - Director of the ICube laboratory (UMR CNRS-UNISTRA 7357) with more than 650 people, since January 1st, 2013. - Coordinator of Robotex, the national network of robotics platforms, selected in February 2011 as an equipment of excellence. - Scientific Representative of the National Center for Scientific Research (CNRS-INSIS) for Robotics and Automation, from April 2006 to July 2011 and Scientific Delegate in charge of the interface between INSIS and INS2I from January 2012 to September 2014. - Advisor for Computer Science and Engineering at Strasbourg University from 2009 to 2012, in charge of building the ICube laboratory project. - Head of the Automation, Vision and Robotics research team (60 people) inside the former LSIIT Laboratory (UMR CNRS-UNISTRA 7005) from 2000 to 2012. - Member of the board of Alsace Biovalley, the life sciences cluster since 2008 and Vice-President from 2008 to 2011. - Head of the Master of Sciences Medical Imaging and Surgical Robotics ''(IRMC)'' from 2006 to 2018. - Research Director at Télécom Physique Strasbourg since 2004. - Associate Editor of the IEEE Control System Technology Journal from 2003 to 2011. - Member of the board of the European Control Association (EUCA) from 2003 to 2010 and Secretary of the Association from 2005 to 2010. - Member of the ''Conseil National des Universités (CNU) - 61ème section'' from 1998 to 2003. == Awards == - '''BAEF Fellow''' : 20,000 USD Scholarship from the Belgian American Educational Foundation (1987). - '''Best vision paper award''' at the IEEE ICRA 2004. - '''2005 King-Sun Fu Memorial, Best Transactions on Robotics Paper Award'''. - '''Electronics Poster Awards – Cum Laude''' at the Cardiovascular and Interventional Radiology Society of Europe (CIRSE) 2011 Congress, Munich, Germany, September 2011. - '''Interventional MR Study Group Poster Award, 1st place for Technical Developments''' at the Joint Annual Meeting ISMRM - ESMRMB, Milan, Italy, May 2014. - '''Summa Cum Laude Third Prize of the MRE-Study Group meeting''' at the ISMRM Annual Meeting ISMRM, Singapour, May 2016. - '''Cum Laude Poster Award''' at the European Congress of Radiology (ECR), Vienna, Austria, March 2018. - '''Innovation Trophy - 2013 Laureate''' of INPI Alsace. - '''Chevalier de l’ordre des Palmes Académiques''' in 2015. - IEEE Senior member since 2002. == Files == [[Media:Short-bio-mdm-2019.pdf|'''Short biography''']] == Personnal web page == [[Michel de Mathelin personal web page]] 12a6e6baa4cab95540eb96ad071b985703333109 431 424 2023-03-15T10:14:18Z Agerard 32 wikitext text/x-wiki == Education == - ''Habilitation à diriger des recherches'', Université Louis Pasteur - Strasbourg University, France, January 1999. - Ph.D. in Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, PA, USA, January 1993. - M.S. in Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, PA, USA, December 1988. - Electrical Engineering 5-years degree, Louvain University, Louvain-la-Neuve, Belgium, completed with ''La plus Grande Distinction'', June 1987. == Professional Experience == - Full Professor at Strasbourg University, Télécom Physique Strasbourg (former ENSPS), since september 1999. - Associate Professor (''Maître de Conférences'') at Strasbourg University, Physics Department, from september 1993 to august 1999. - Researcher at the ''Chaire d’Electricité de l’Ecole Polytechnique de l’Ecole Royale Militaire'' in Brussels (Belgium), from september 1991 to august 1992. == Responsibilities == - Vice-President for Innovation and Technology Transfer of the University of Strasbourg since January 2017. - Director of the ICube laboratory (UMR CNRS-UNISTRA 7357) with more than 650 people, since January 1st, 2013. - Coordinator of Robotex, the national network of robotics platforms, selected in February 2011 as an equipment of excellence. - Scientific Representative of the National Center for Scientific Research (CNRS-INSIS) for Robotics and Automation, from April 2006 to July 2011 and Scientific Delegate in charge of the interface between INSIS and INS2I from January 2012 to September 2014. - Advisor for Computer Science and Engineering at Strasbourg University from 2009 to 2012, in charge of building the ICube laboratory project. - Head of the Automation, Vision and Robotics research team (60 people) inside the former LSIIT Laboratory (UMR CNRS-UNISTRA 7005) from 2000 to 2012. - Member of the board of Alsace Biovalley, the life sciences cluster since 2008 and Vice-President from 2008 to 2011. - Head of the Master of Sciences Medical Imaging and Surgical Robotics ''(IRMC)'' from 2006 to 2018. - Research Director at Télécom Physique Strasbourg since 2004. - Associate Editor of the IEEE Control System Technology Journal from 2003 to 2011. - Member of the board of the European Control Association (EUCA) from 2003 to 2010 and Secretary of the Association from 2005 to 2010. - Member of the ''Conseil National des Universités (CNU) - 61ème section'' from 1998 to 2003. == Awards == - '''BAEF Fellow''' : 20,000 USD Scholarship from the Belgian American Educational Foundation (1987). - '''Best vision paper award''' at the IEEE ICRA 2004. - '''2005 King-Sun Fu Memorial, Best Transactions on Robotics Paper Award'''. - '''Electronics Poster Awards – Cum Laude''' at the Cardiovascular and Interventional Radiology Society of Europe (CIRSE) 2011 Congress, Munich, Germany, September 2011. - '''Interventional MR Study Group Poster Award, 1st place for Technical Developments''' at the Joint Annual Meeting ISMRM - ESMRMB, Milan, Italy, May 2014. - '''Summa Cum Laude Third Prize of the MRE-Study Group meeting''' at the ISMRM Annual Meeting ISMRM, Singapour, May 2016. - '''Cum Laude Poster Award''' at the European Congress of Radiology (ECR), Vienna, Austria, March 2018. - '''Innovation Trophy - 2013 Laureate''' of INPI Alsace. - '''Chevalier de l’ordre des Palmes Académiques''' in 2015. - IEEE Senior member since 2002. == Files == [[File:Short-bio-mdm-2019.pdf|'''Short biography''']] == Personnal web page == [[Michel de Mathelin personal web page]] 75149fbb4117332636fc926ee4bb86be5c56c5f9 432 431 2023-03-15T10:14:33Z Agerard 32 /* Files */ wikitext text/x-wiki == Education == - ''Habilitation à diriger des recherches'', Université Louis Pasteur - Strasbourg University, France, January 1999. - Ph.D. in Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, PA, USA, January 1993. - M.S. in Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, PA, USA, December 1988. - Electrical Engineering 5-years degree, Louvain University, Louvain-la-Neuve, Belgium, completed with ''La plus Grande Distinction'', June 1987. == Professional Experience == - Full Professor at Strasbourg University, Télécom Physique Strasbourg (former ENSPS), since september 1999. - Associate Professor (''Maître de Conférences'') at Strasbourg University, Physics Department, from september 1993 to august 1999. - Researcher at the ''Chaire d’Electricité de l’Ecole Polytechnique de l’Ecole Royale Militaire'' in Brussels (Belgium), from september 1991 to august 1992. == Responsibilities == - Vice-President for Innovation and Technology Transfer of the University of Strasbourg since January 2017. - Director of the ICube laboratory (UMR CNRS-UNISTRA 7357) with more than 650 people, since January 1st, 2013. - Coordinator of Robotex, the national network of robotics platforms, selected in February 2011 as an equipment of excellence. - Scientific Representative of the National Center for Scientific Research (CNRS-INSIS) for Robotics and Automation, from April 2006 to July 2011 and Scientific Delegate in charge of the interface between INSIS and INS2I from January 2012 to September 2014. - Advisor for Computer Science and Engineering at Strasbourg University from 2009 to 2012, in charge of building the ICube laboratory project. - Head of the Automation, Vision and Robotics research team (60 people) inside the former LSIIT Laboratory (UMR CNRS-UNISTRA 7005) from 2000 to 2012. - Member of the board of Alsace Biovalley, the life sciences cluster since 2008 and Vice-President from 2008 to 2011. - Head of the Master of Sciences Medical Imaging and Surgical Robotics ''(IRMC)'' from 2006 to 2018. - Research Director at Télécom Physique Strasbourg since 2004. - Associate Editor of the IEEE Control System Technology Journal from 2003 to 2011. - Member of the board of the European Control Association (EUCA) from 2003 to 2010 and Secretary of the Association from 2005 to 2010. - Member of the ''Conseil National des Universités (CNU) - 61ème section'' from 1998 to 2003. == Awards == - '''BAEF Fellow''' : 20,000 USD Scholarship from the Belgian American Educational Foundation (1987). - '''Best vision paper award''' at the IEEE ICRA 2004. - '''2005 King-Sun Fu Memorial, Best Transactions on Robotics Paper Award'''. - '''Electronics Poster Awards – Cum Laude''' at the Cardiovascular and Interventional Radiology Society of Europe (CIRSE) 2011 Congress, Munich, Germany, September 2011. - '''Interventional MR Study Group Poster Award, 1st place for Technical Developments''' at the Joint Annual Meeting ISMRM - ESMRMB, Milan, Italy, May 2014. - '''Summa Cum Laude Third Prize of the MRE-Study Group meeting''' at the ISMRM Annual Meeting ISMRM, Singapour, May 2016. - '''Cum Laude Poster Award''' at the European Congress of Radiology (ECR), Vienna, Austria, March 2018. - '''Innovation Trophy - 2013 Laureate''' of INPI Alsace. - '''Chevalier de l’ordre des Palmes Académiques''' in 2015. - IEEE Senior member since 2002. == Files == [[Media:Short-bio-mdm-2019.pdf|'''Short biography''']] == Personnal web page == [[Michel de Mathelin personal web page]] 12a6e6baa4cab95540eb96ad071b985703333109 0 88 425 2023-03-15T10:02:19Z Maintenance script 31 wikitext text/x-wiki '''Research field:''' medical robotics '''Current research themes:''' - Assistance to MRI guided percutaneous procedures. - Robotics assistance to transluminal and endoluminal surgery. - Robotics assistance to Transcranial Magnetic Stimulation. '''Research issues:''' - MRI compatibility - Physiological motion compensation - Telemanipulation - Visual servoing and navigation - Safe mechanical design == Current research projects == '''I2MT''' - CPER Alsace - Partners: ICube, IPHC - ''Translational multimodal in vivo imaging'' (2015-2010). '''IHU image-guided surgery''' - Partners: ICube, Siemens, IHU - ''MRI guided percutaneous procedures'' (2012- ). '''TMS-Robot''' - FUI Alsace Biovalley - Partners: ICube (former LSIIT), Axilum Robotics, Streb & Weil, INSERM - ''Robotic assistance to Transcranial Magnetic Stimulation'' (2012- ). '''ISIS''' - FUI Alsace Biovalley - Partners: ICube (former LSIIT), IRCAD (coord.), Karl Storz, Surgical Perspective - ''Abdominal Single Endoscopic Trocart Surgery'' (2010-2014). SATT Conectus Alsace - Partners: ICube, IRCAD, Karl Storz (2014- ). '''XYZ-IRM''' - ANR Emergence-Tec - Partners : ICube (former LSIIT, InESS and IPB-LINC) - ''Electronic sensors for real-time tracking inside a MR Imaging machine'' (2010-2012). == Past research projects == '''IRMC''' - CPER Alsace - Partners : LSIIT, IPB-LINC, InESS, IMFS - ''Medical imaging and surgical robotics'' (2007-2014). '''TMS Robot''' - ANR Emergence-Tec - Partners : LSIIT, IPB-LINC, INSERM - ''Robotic assistance to Transcranial Magnetic Stimulation'' (2009-2011). '''ANUBIS''' - FUI Alsace Biovalley - Partners: LSIIT, IRCAD (coord.), Karl Storz - ''Instrumentation for NOTES'' (2005-2008). '''IRASIS''' - ROBEA - Partners: LSIIT, IRCAD, LAAS, INSA Strasbourg - ''Robotic Assistance to X-ray guided percutaneous procedures'' (2003-2004). == == [[Michel de Mathelin personal web page]] c2f08afb75a90fbf7549831c5f25e3f146fdc3eb 0 89 426 2023-03-15T10:03:13Z Maintenance script 31 wikitext text/x-wiki == Télécom Physique Strasbourg == Responsable du parcours Imagerie et Robotique Médicale et Chirurgicale (IRMC) du Master IRIV [[Media:Emploi-du-temps-2013-2014.pdf|'''Emploi du temps IRMC''']] '''Cours:''' Optimisation, Medical Robotics, Identification === Master IRIV === [[Optimisation|'''Optimisation''']] [[Medical Robotics|'''Medical Robotics''']] [[Géométrie et Algèbre Matriciel|'''Géométrie et Algèbre Matriciel''']] (cours pour les étudiants de médecine) === FIP 2A === [[Identification|'''Identification''']] == ENSTA Bretagne == '''Robotique Médicale''' == == [[Michel de Mathelin personal web page]] 8be00eb0b061b7659b559c0f29774a027472985b 0 90 427 2023-03-15T10:04:13Z Maintenance script 31 wikitext text/x-wiki == Current Ph.D. Students == I am happy to be advising: '''Fabrice BING '''Andru Putra TWINANDA''' '''Abdolrahim KADKHODAMOHAMMADI''' '''Laure-Anaïs CHANEL''' '''Nadège CORBIN''' == Former Ph.D. Students == I am grateful for having directed the thesis of: '''Markus NEUMANN''' - Februaray 2014 - ''Automatic multi-modal real time tracking for image plane alignment in interventional magnetic resonance imaging''. '''Antonio DE DONNO''' - December 2013 - ''Développement et commande d'un système robotique pour la chirurgie sans cicatrice''. '''Salih ABDELAZIZ''' - November 2012 - ''Développement d'un système robotique pour la radiologie interventionnelle sous IRM''. '''Bérangère BARDOU''' - November 2011 – ''Commande de systèmes de comanipulation et de télémanipulation pour la chirurgie transluminale''. '''Matthieu EHLINGER''' - May 2011 - ''Evolution de la perfusion céphalique résiduelle par scanner de perfusion de la tête fémorale après fracture du col''. '''Laurent OTT''' - December 2009 - ''Compensation des mouvements physiologiques en endoscopie flexible. Application à la chirurgie transluminale''. '''Cyrille LEBOSSE''' - May 2008 - ''Stimulation magnétique transcrânienne robotisée guidée par imagerie médicale''. '''Laurent BARBE''' - June 2007 - ''Téléopération avec retour d’efforts pour les interventions percutanées''. '''Loïc CUVILLON''' - December 2006 - ''Compensation du battement cardiaque en chirurgie robotisée: Asservissement visuel d'un robot médical avec flexibilités''. '''Benjamin MAURIN'''- November 2005 - ''Conception et réalisation d’un robot d’insertion d’aiguille pour les procédures percutanées sous imageur scanner''. '''Florent NAGEOTTE''' - November 2005 - ''Contributions à la Suture Assistée par Ordinateur en Chirurgie Mini-invasive''. '''Kanako MIURA''' - February 2004 - ''Soft grasping with uncalibrated visual servoing''. '''Romuald GINHOUX''' - December 2003 - ''Compensation des mouvements respiratoires et cardiaques par asservissement visuel en chirurgie laparoscopique''. '''Alexandre KRUPA''' - July 2003 - ''Commande par vision d’un robot de chirurgie laparoscopique''. '''Yulin XU''' - September 1999 - ''Adaptive rejection of quasi-periodic tension disturbances in web transport systems''. '''Jacques GANGLOFF''' - January 1999 - ''Asservissements visuels rapides d’un robot manipulateur à 6 degrés de liberté''. '''Hansjörg SAGE''' - July 1997 - ''Synthèse de correcteurs H∞ avec application aux robots manipulateurs industriels''. == == [[Michel de Mathelin personal web page]] 7ca2bedab4848ae4426b3099b8f4d4a14a0e2ac2 6 91 428 2023-03-15T10:09:22Z Maintenance script 31 == Summary == Importing file wikitext text/x-wiki == Summary == Importing file a17a62e513d7b7e2e7db2961dd51392aa3595c1d 6 92 429 2023-03-15T10:09:23Z Maintenance script 31 == Summary == Importing file wikitext text/x-wiki == Summary == Importing file a17a62e513d7b7e2e7db2961dd51392aa3595c1d 6 93 430 2023-03-15T10:10:29Z Maintenance script 31 == Summary == Importing file wikitext text/x-wiki == Summary == Importing file a17a62e513d7b7e2e7db2961dd51392aa3595c1d 0 94 433 2023-03-15T10:18:32Z Maintenance script 31 wikitext text/x-wiki Enseignant: [[Michel de Mathelin personal web page|Pr. Michel de Mathelin]] Cours d'ouverture du Master M2 IRIV : * Rappels mathématiques - [[Media:chapitre1.pdf|Introduction et Chapitre 1]] * Optimisation sans contraintes - méthodes locales - [[Media:chapitre2.pdf|Chapitre 2]] * Optimisation sans contrainte - méthodes globales - [[Media:chapitre3.pdf|Chapitre 3]] * Programmation linéaire - [[Media:chapitre4.pdf|Chapitre 4]] * Programmation nonlinéaire - [[Media:chapitre5.pdf|Chapitre 5]] 2c44d94ab4ff954c9826b97e5031c51f00af0b1e 0 95 434 2023-03-15T10:18:48Z Maintenance script 31 wikitext text/x-wiki Exchange program with the University of Houston (PUF) Exchange program with Télécom Paris and Télécom Brest Master IRIV - IRMC == Program == [[Media:General-program-2015.pdf|'''General program and course description''']] [[Media:Schedule-2015.pdf|'''Precise schedule''']] == Course == [[Media:Medical-robotics-intro-2015.pdf|'''Medical Robotics course introduction''']] == Instructor == [[Michel de Mathelin personal web page|Pr. Michel de Mathelin]] 0abaf57c0b1eb322874073d25ca2544af569091b 0 96 435 2023-03-15T10:19:03Z Maintenance script 31 wikitext text/x-wiki ==Enseignant== Enseignant: [[Michel de Mathelin personal web page|Pr. Michel de Mathelin]] ==Programme cours== * [[Media:prog-math.pdf|Programme]] ==Travaux dirigés== * TD1 : Initiation à Matlab ([[Media:algebre-td1.pdf|TD1]])<br> * TD2 - Partie 1: Les matrices ([[Media:algebre-td2.pdf|TD2]])<br> * TD2 - Partie 2: Les matrices (suite) ([[Media:algebre-td2b.pdf|TD2b]])<br> * TD3 : Le déterminant ([[Media:algebre-td3.pdf|TD3]])<br> * TD4 : Valeurs propres et vecteurs propres ([[Media:algebre-td4.pdf|TD4]])<br> 431ee0e239b787893841448e73502135208517cc 0 97 436 2023-03-15T10:19:17Z Maintenance script 31 wikitext text/x-wiki ==Enseignant== Enseignant: [[Michel de Mathelin personal web page|Pr. Michel de Mathelin]] ==Cours== * [[Media:identification-chapI-et-chapII.pdf|Chapitre I et II]] * [[Media:identification-chapIII.pdf|Chapitre III]] * [[Media:identification-chapIV.pdf|Chapitre IV]] ==Travaux dirigés== * Identification : devoir sur les moindres carrés ([[Media:devoir09.pdf|sujet]], [[Media:devoird.m|données]])<br> ==Bureau d'étude == * Identification : réaliser une étude de cas à partir de données réelles. L'objectif est de présenter un modèle avec un pouvoir de prédiction maximal. Toutes les étapes d'une identification sont à mettre en oeuvre dans cette étude à l'aide de l'interface graphique ''ident'' de Matlab: ** Prétraitement des données ** Sélection de modèles ARX, ARMAX, OE et BJ ** Validation : simulation, carte des pôles et des zéros, analyse des résidus et analyse spectrale ** Proposition d'un modèle de fonction de transfert pour la commande == Données == Les données sont au format Matlab ''.m'' ou ''.dat'' * data1 ([[Media:dat1.m|jeu de données 1]]) * data2 ([[Media:dat2.m|jeu de données 2]]) * data3 ([[Media:dat3.m|jeu de données 3]]) * data4 ([[Media:dat4.m|jeu de données 4]]) * data5 ([[Media:dat5.m|jeu de données 5]]) * data6 ([[Media:dat6.m|jeu de données 6]]) * data7 ([[Media:dat7.m|jeu de données 7]]) * data8 ([[Media:dat8.m|jeu de données 8]]) * data9 ([[Media:dat9.m|jeu de données 9]]) * data10 ([[Media:dat10.m|jeu de données 10]]) * data11 ([[Media:dat11.m|jeu de données 11]]) * data12 ([[Media:dat12.m|jeu de données 12]]) * data13 ([[Media:dat13.m|jeu de données 13]]) * data14 ([[Media:dat14.m|jeu de données 14]]) * data15 ([[Media:dat15.m|jeu de données 15]]) * data16 ([[Media:dat16.m|jeu de données 16]]) * data17 ([[Media:dat17.m|jeu de données 17]]) * data18 ([[Media:dat18.m|jeu de données 18]]) * data19 ([[Media:dat19.m|jeu de données 19]]) * data20 ([[Media:dat20.m|jeu de données 20]]) ece0b8de391d9a16ad9b620c5f2e6fce94799cba 6 98 437 2023-03-15T11:43:44Z Maintenance script 31 == Summary == Importing file wikitext text/x-wiki == Summary == Importing file a17a62e513d7b7e2e7db2961dd51392aa3595c1d 6 99 438 2023-03-15T11:43:44Z Maintenance script 31 == Summary == Importing file wikitext text/x-wiki == Summary == Importing file a17a62e513d7b7e2e7db2961dd51392aa3595c1d 6 100 439 2023-03-15T11:43:45Z Maintenance script 31 == Summary == Importing file wikitext text/x-wiki == Summary == Importing file a17a62e513d7b7e2e7db2961dd51392aa3595c1d 6 101 440 2023-03-15T11:43:45Z Maintenance script 31 == Summary == Importing file wikitext text/x-wiki == Summary == Importing file a17a62e513d7b7e2e7db2961dd51392aa3595c1d 6 102 441 2023-03-15T11:43:45Z Maintenance script 31 == Summary == Importing file wikitext text/x-wiki == Summary == Importing file a17a62e513d7b7e2e7db2961dd51392aa3595c1d 6 103 442 2023-03-15T11:43:46Z Maintenance script 31 == Summary == Importing file wikitext text/x-wiki == Summary == Importing file a17a62e513d7b7e2e7db2961dd51392aa3595c1d 6 104 443 2023-03-15T11:43:46Z Maintenance script 31 == Summary == Importing file wikitext text/x-wiki == Summary == Importing file a17a62e513d7b7e2e7db2961dd51392aa3595c1d 6 105 444 2023-03-15T11:43:46Z Maintenance script 31 == Summary == Importing file wikitext text/x-wiki == Summary == Importing file a17a62e513d7b7e2e7db2961dd51392aa3595c1d 6 106 445 2023-03-15T11:43:47Z Maintenance script 31 == Summary == Importing file wikitext text/x-wiki == Summary == Importing file a17a62e513d7b7e2e7db2961dd51392aa3595c1d 6 107 446 2023-03-15T11:43:47Z Maintenance script 31 == Summary == Importing file wikitext text/x-wiki == Summary == Importing file a17a62e513d7b7e2e7db2961dd51392aa3595c1d 6 108 447 2023-03-15T11:43:47Z Maintenance script 31 == Summary == Importing file wikitext text/x-wiki == Summary == Importing file a17a62e513d7b7e2e7db2961dd51392aa3595c1d 6 109 448 2023-03-15T11:43:48Z Maintenance script 31 == Summary == Importing file wikitext text/x-wiki == Summary == Importing file a17a62e513d7b7e2e7db2961dd51392aa3595c1d 6 110 449 2023-03-15T11:43:48Z Maintenance script 31 == Summary == Importing file wikitext text/x-wiki == Summary == Importing file a17a62e513d7b7e2e7db2961dd51392aa3595c1d 6 111 450 2023-03-15T11:43:48Z Maintenance script 31 == Summary == Importing file wikitext text/x-wiki == Summary == Importing file a17a62e513d7b7e2e7db2961dd51392aa3595c1d 6 112 451 2023-03-15T11:43:48Z Maintenance script 31 == Summary == Importing file wikitext text/x-wiki == Summary == Importing file a17a62e513d7b7e2e7db2961dd51392aa3595c1d 6 113 452 2023-03-15T11:43:49Z Maintenance script 31 == Summary == Importing file wikitext text/x-wiki == Summary == Importing file a17a62e513d7b7e2e7db2961dd51392aa3595c1d 6 114 453 2023-03-15T11:43:49Z Maintenance script 31 == Summary == Importing file wikitext text/x-wiki == Summary == Importing file a17a62e513d7b7e2e7db2961dd51392aa3595c1d 6 115 454 2023-03-15T11:43:49Z Maintenance script 31 == Summary == Importing file wikitext text/x-wiki == Summary == Importing file a17a62e513d7b7e2e7db2961dd51392aa3595c1d 6 116 455 2023-03-15T11:43:49Z Maintenance script 31 == Summary == Importing file wikitext text/x-wiki == Summary == Importing file a17a62e513d7b7e2e7db2961dd51392aa3595c1d 6 117 456 2023-03-15T11:43:49Z Maintenance script 31 == Summary == Importing file wikitext text/x-wiki == Summary == Importing file a17a62e513d7b7e2e7db2961dd51392aa3595c1d 0 89 457 426 2023-03-15T11:44:39Z Demathelin 33 wikitext text/x-wiki == Télécom Physique Strasbourg == Responsable du parcours Imagerie et Robotique Médicale et Chirurgicale (IRMC) du Master IRIV [[File:Emploi-du-temps-2013-2014.pdf|'''Emploi du temps IRMC''']] '''Cours:''' Optimisation, Medical Robotics, Identification === Master IRIV === [[Optimisation|'''Optimisation''']] [[Medical Robotics|'''Medical Robotics''']] [[Géométrie et Algèbre Matriciel|'''Géométrie et Algèbre Matriciel''']] (cours pour les étudiants de médecine) === FIP 2A === [[Identification|'''Identification''']] == ENSTA Bretagne == '''Robotique Médicale''' == == [[Michel de Mathelin personal web page]] 8acd3a3d95af6d85770624d0c8719c06f92afd9f 458 457 2023-03-15T11:44:52Z Demathelin 33 wikitext text/x-wiki == Télécom Physique Strasbourg == Responsable du parcours Imagerie et Robotique Médicale et Chirurgicale (IRMC) du Master IRIV [[Media:Emploi-du-temps-2013-2014.pdf|'''Emploi du temps IRMC''']] '''Cours:''' Optimisation, Medical Robotics, Identification === Master IRIV === [[Optimisation|'''Optimisation''']] [[Medical Robotics|'''Medical Robotics''']] [[Géométrie et Algèbre Matriciel|'''Géométrie et Algèbre Matriciel''']] (cours pour les étudiants de médecine) === FIP 2A === [[Identification|'''Identification''']] == ENSTA Bretagne == '''Robotique Médicale''' == == [[Michel de Mathelin personal web page]] 8be00eb0b061b7659b559c0f29774a027472985b 0 94 459 433 2023-03-15T11:45:33Z Demathelin 33 wikitext text/x-wiki Enseignant: [[Michel de Mathelin personal web page|Pr. Michel de Mathelin]] Cours d'ouverture du Master M2 IRIV : * Rappels mathématiques - [[File:chapitre1.pdf|Introduction et Chapitre 1]] * Optimisation sans contraintes - méthodes locales - [[Media:chapitre2.pdf|Chapitre 2]] * Optimisation sans contrainte - méthodes globales - [[Media:chapitre3.pdf|Chapitre 3]] * Programmation linéaire - [[Media:chapitre4.pdf|Chapitre 4]] * Programmation nonlinéaire - [[Media:chapitre5.pdf|Chapitre 5]] 415b9e1510c4004106750797f4b96174baa877f7 460 459 2023-03-15T11:45:45Z Demathelin 33 wikitext text/x-wiki Enseignant: [[Michel de Mathelin personal web page|Pr. Michel de Mathelin]] Cours d'ouverture du Master M2 IRIV : * Rappels mathématiques - [[Media:chapitre1.pdf|Introduction et Chapitre 1]] * Optimisation sans contraintes - méthodes locales - [[Media:chapitre2.pdf|Chapitre 2]] * Optimisation sans contrainte - méthodes globales - [[Media:chapitre3.pdf|Chapitre 3]] * Programmation linéaire - [[Media:chapitre4.pdf|Chapitre 4]] * Programmation nonlinéaire - [[Media:chapitre5.pdf|Chapitre 5]] 2c44d94ab4ff954c9826b97e5031c51f00af0b1e 0 17 461 420 2023-03-24T09:34:24Z Sdurand 18 Event-Driven Approaches for Parsimonious Control of a Modular and Reconfigurable System of UAVs wikitext text/x-wiki = Vision-based Trajectory Tracking Robust to Modeling Errors = === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 = Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening = === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 = Event-Driven Approaches for Parsimonious Control of a Modular and Reconfigurable System of UAVs = For further details: tinyurl.com/eSWARM 6b704cbe2a7afc153cff0630fc7dfdf14517f088 462 461 2023-03-24T09:35:43Z Sdurand 18 /* Event-Driven Approaches for Parsimonious Control of a Modular and Reconfigurable System of UAVs */ wikitext text/x-wiki = Vision-based Trajectory Tracking Robust to Modeling Errors = === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 = Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening = === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 = Event-Driven Approaches for Parsimonious Control of a Modular and Reconfigurable System of UAVs = We are looking for a high-ranked candidate with a background in advanced control and robotics. For further details: tinyurl.com/eSWARM de4fbec1b3771832e9b73c864f5b4898cf1f9dd1 463 462 2023-03-24T09:39:56Z Sdurand 18 /* Event-Driven Approaches for Parsimonious Control of a Modular and Reconfigurable System of UAVs */ wikitext text/x-wiki = Vision-based Trajectory Tracking Robust to Modeling Errors = === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 = Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening = === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 = Event-Driven Approaches for Parsimonious Control of a Modular and Reconfigurable System of UAVs = We are looking for a high-ranked candidate with a background in advanced control and robotics. For further details: [[tinyurl.com/eSWARM]] b6c4c0c18a9a82f82dc2b5d5245c87b7be9e3eee 464 463 2023-03-24T09:40:57Z Sdurand 18 /* Event-Driven Approaches for Parsimonious Control of a Modular and Reconfigurable System of UAVs */ wikitext text/x-wiki = Vision-based Trajectory Tracking Robust to Modeling Errors = === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 = Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening = === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 = Event-Driven Approaches for Parsimonious Control of a Modular and Reconfigurable System of UAVs = We are looking for a high-ranked candidate with a background in advanced control and robotics. For further details: http://tinyurl.com/eSWARM 4e3ee8e17f5467f7ef30f126367cb0b19ed3c4a7 465 464 2023-03-30T09:09:46Z Laroche 8 wikitext text/x-wiki = Vision-based Trajectory Tracking Robust to Modeling Errors = === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 = Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening = === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 = Event-Driven Approaches for Parsimonious Control of a Modular and Reconfigurable System of UAVs = We are looking for a high-ranked candidate with a background in advanced control and robotics. For further details: http://tinyurl.com/eSWARM = ÉDroPoMe (Endurance Drone for Pollution Measurement) - Utilisation d'un drone pour la cartographie 3D in-situ de nuages de fumées Le projet vise à développer un outil de cartographie 3D rapide et temps réel de l’évolution des polluants d’un panache de fumées d’incendies, grâce à un drone de grande endurance à propulsion à hydrogène non polluante (5h d’autonomie) embarquant des capteurs de pollution. Des techniques de commande avancée permettront une planification de trajectoire en temps réel afin que le drone vole à la frontière du panache de fumée, évitant ainsi la saturation des capteurs embarqués et maximisant la pertinence des données récoltées. Les données serviront à affiner les prédictions fournies par un modèle d’écoulement des fumées à l’aide d'outils d’intelligence artificielle. Le projet débouchera sur un démonstrateur en vue d’une validation expérimentale, en collaboration avec les professionnels du métier avec lesquels nous travaillons (pompiers du SIS67). 64798317d83597b094c1de4d8421a85048169d30 466 465 2023-03-30T09:10:09Z Laroche 8 wikitext text/x-wiki = Vision-based Trajectory Tracking Robust to Modeling Errors = === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 = Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening = === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 = Event-Driven Approaches for Parsimonious Control of a Modular and Reconfigurable System of UAVs = We are looking for a high-ranked candidate with a background in advanced control and robotics. For further details: http://tinyurl.com/eSWARM = ÉDroPoMe (Endurance Drone for Pollution Measurement) - Utilisation d'un drone pour la cartographie 3D in-situ de nuages de fumées = Le projet vise à développer un outil de cartographie 3D rapide et temps réel de l’évolution des polluants d’un panache de fumées d’incendies, grâce à un drone de grande endurance à propulsion à hydrogène non polluante (5h d’autonomie) embarquant des capteurs de pollution. Des techniques de commande avancée permettront une planification de trajectoire en temps réel afin que le drone vole à la frontière du panache de fumée, évitant ainsi la saturation des capteurs embarqués et maximisant la pertinence des données récoltées. Les données serviront à affiner les prédictions fournies par un modèle d’écoulement des fumées à l’aide d'outils d’intelligence artificielle. Le projet débouchera sur un démonstrateur en vue d’une validation expérimentale, en collaboration avec les professionnels du métier avec lesquels nous travaillons (pompiers du SIS67). 20ae14097953c051dbe257c8f0ce6f42a2dee15c 467 466 2023-03-30T09:11:19Z Laroche 8 /* ÉDroPoMe (Endurance Drone for Pollution Measurement) - Utilisation d'un drone pour la cartographie 3D in-situ de nuages de fumées */ wikitext text/x-wiki = Vision-based Trajectory Tracking Robust to Modeling Errors = === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 = Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening = === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 = Event-Driven Approaches for Parsimonious Control of a Modular and Reconfigurable System of UAVs = We are looking for a high-ranked candidate with a background in advanced control and robotics. For further details: http://tinyurl.com/eSWARM = ÉDroPoMe (Endurance Drone for Pollution Measurement) - Utilisation d'un drone pour la cartographie 3D in-situ de nuages de fumées = Le projet vise à développer un outil de cartographie 3D rapide et temps réel de l’évolution des polluants d’un panache de fumées d’incendies, grâce à un drone de grande endurance à propulsion à hydrogène non polluante (5h d’autonomie) embarquant des capteurs de pollution. Des techniques de commande avancée permettront une planification de trajectoire en temps réel afin que le drone vole à la frontière du panache de fumée, évitant ainsi la saturation des capteurs embarqués et maximisant la pertinence des données récoltées. Les données serviront à affiner les prédictions fournies par un modèle d’écoulement des fumées à l’aide d'outils d’intelligence artificielle. Le projet débouchera sur un démonstrateur en vue d’une validation expérimentale, en collaboration avec les professionnels du métier avec lesquels nous travaillons (pompiers du SIS67). [[File:EDroPoMe|thumb|Sujet détaillé]] 65a392cddb1358279a1c2fc8154413ba778fa67a 469 467 2023-03-30T09:16:30Z Laroche 8 wikitext text/x-wiki = Vision-based Trajectory Tracking Robust to Modeling Errors = === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 = Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening = === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 = Event-Driven Approaches for Parsimonious Control of a Modular and Reconfigurable System of UAVs = We are looking for a high-ranked candidate with a background in advanced control and robotics. For further details: http://tinyurl.com/eSWARM = ÉDroPoMe (Endurance Drone for Pollution Measurement) - Utilisation d'un drone pour la cartographie 3D in-situ de nuages de fumées = Le projet vise à développer un outil de cartographie 3D rapide et temps réel de l’évolution des polluants d’un panache de fumées d’incendies, grâce à un drone de grande endurance à propulsion à hydrogène non polluante (5h d’autonomie) embarquant des capteurs de pollution. Des techniques de commande avancée permettront une planification de trajectoire en temps réel afin que le drone vole à la frontière du panache de fumée, évitant ainsi la saturation des capteurs embarqués et maximisant la pertinence des données récoltées. Les données serviront à affiner les prédictions fournies par un modèle d’écoulement des fumées à l’aide d'outils d’intelligence artificielle. Le projet débouchera sur un démonstrateur en vue d’une validation expérimentale, en collaboration avec les professionnels du métier avec lesquels nous travaillons (pompiers du SIS67). Profil recherché : Ingénieur ou Master avec une spécialisation en automatique. Une expérience dans le domaine des drones sera appréciée. [[File:EDroPoMe|thumb|Sujet détaillé]] e19776d955cba9d067ea4319e449a63f3b60e54c 477 469 2023-06-05T04:38:55Z Sdurand 18 /* Event-Driven Approaches for Parsimonious Control of a Modular and Reconfigurable System of UAVs */ wikitext text/x-wiki = Vision-based Trajectory Tracking Robust to Modeling Errors = === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 = Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening = === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 = ÉDroPoMe (Endurance Drone for Pollution Measurement) - Utilisation d'un drone pour la cartographie 3D in-situ de nuages de fumées = Le projet vise à développer un outil de cartographie 3D rapide et temps réel de l’évolution des polluants d’un panache de fumées d’incendies, grâce à un drone de grande endurance à propulsion à hydrogène non polluante (5h d’autonomie) embarquant des capteurs de pollution. Des techniques de commande avancée permettront une planification de trajectoire en temps réel afin que le drone vole à la frontière du panache de fumée, évitant ainsi la saturation des capteurs embarqués et maximisant la pertinence des données récoltées. Les données serviront à affiner les prédictions fournies par un modèle d’écoulement des fumées à l’aide d'outils d’intelligence artificielle. Le projet débouchera sur un démonstrateur en vue d’une validation expérimentale, en collaboration avec les professionnels du métier avec lesquels nous travaillons (pompiers du SIS67). Profil recherché : Ingénieur ou Master avec une spécialisation en automatique. Une expérience dans le domaine des drones sera appréciée. [[File:EDroPoMe|thumb|Sujet détaillé]] 1014d9bce80e4a86c04c03466eec149c17eefdb3 6 118 468 2023-03-30T09:13:36Z Laroche 8 Projet EDroPoMe - Sujet de thèse détaillé wikitext text/x-wiki == Summary == Projet EDroPoMe - Sujet de thèse détaillé 73eea40a69a1ea56d219f709fdb044d2f88057f1 0 46 470 419 2023-05-14T21:10:34Z Nageotte 14 wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Associate Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> =News : Two open PhD positions in Medical robotics= == Vision-based Trajectory Tracking Robust to Modeling Errors == === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 == Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening == === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 =Curriculum Vitae= * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shool, Strasbourg. Major in robotics. =Responsibilities= * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In TPS, Healthtech Master and Third year TIS DTMI (M2 level), === * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation de pose, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> === TPS, M2 IRIV / IRMC === * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> === TPS, Second year and M1 IRIV === * Tutorials on OpenCV * Computer vision course (mosaicking, reconstruction of planar objects) === Electronic systems and Mechatronics Bachelor (Third year) === * Course and tutorials on continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> === Micro and Nano Electronics Master (First year) === * Course and tutorials on discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === TPS FIP Third year === * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses supervision (defended theses) ** Gaelle Thomas, defended on October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Laure-Anaïs Chanel, thèse soutenue en mars 2016 (Traitement par HIFU robotisé sous imagerie échographique, funded by CAMI labex) ** Paolo Cabras, defendd in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021 ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), since October 2019 (Shared control for minimally invasive surgery) * Co-supervisions: ** Fernando Gonzalez Herrera, (with Benoit Rosa,Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020 ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University Verona), since October 2019 ** Paul Mondou (with Jonathan Vappou and Benoit Larrat (CEA Neurospin)), funded by CAMI Labex, since October 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** François Lavieille ** Thibault Poignonec ** Xuan Thao Ha ** Mohamed Amine Falek == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » <!-- = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. --> =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | d38c57c42d789280c92ce7cc7845d83fa9d01c3c 471 470 2023-05-14T21:13:35Z Nageotte 14 /* Research */ wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Associate Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> =News : Two open PhD positions in Medical robotics= == Vision-based Trajectory Tracking Robust to Modeling Errors == === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 == Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening == === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 =Curriculum Vitae= * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shool, Strasbourg. Major in robotics. =Responsibilities= * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In TPS, Healthtech Master and Third year TIS DTMI (M2 level), === * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation de pose, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> === TPS, M2 IRIV / IRMC === * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> === TPS, Second year and M1 IRIV === * Tutorials on OpenCV * Computer vision course (mosaicking, reconstruction of planar objects) === Electronic systems and Mechatronics Bachelor (Third year) === * Course and tutorials on continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> === Micro and Nano Electronics Master (First year) === * Course and tutorials on discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === TPS FIP Third year === * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses supervision (defended theses) ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), defended on May 3 2023: Shared control for minimally invasive surgery ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University Verona), defended on January 16 2023 ** Gaelle Thomas, defended on October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Laure-Anaïs Chanel, thèse soutenue en mars 2016 (Traitement par HIFU robotisé sous imagerie échographique, funded by CAMI labex) ** Paolo Cabras, defendd in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021 * Co-supervisions: ** Fernando Gonzalez Herrera, (with Benoit Rosa,Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020 ** Paul Mondou (with Jonathan Vappou and Benoit Larrat (CEA Neurospin)), funded by CAMI Labex, since October 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** Tania Olmo Fajardo ** Edgard Weissrock ** François Lavieille ** Thibault Poignonec ** Xuan Thao Ha ** Mohamed Amine Falek == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » <!-- = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. --> =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | 4160ba27a7111bf22e0dffe232ff0f63b5e1e8f0 478 471 2023-06-05T13:08:39Z Nageotte 14 /* Courses */ wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Associate Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> =News : Two open PhD positions in Medical robotics= == Vision-based Trajectory Tracking Robust to Modeling Errors == === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 == Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening == === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 =Curriculum Vitae= * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shool, Strasbourg. Major in robotics. =Responsibilities= * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In TPS, Healthtech Master and Third year TIS DTMI (M2 level), === * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> === TPS, M2 IRIV / IRMC === * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> === TPS, Second year and M1 IRIV === * Tutorials on OpenCV * Computer vision course (mosaicking, reconstruction of planar objects) === In Physics and engineering department of University of Strasbourg === === Electronic systems and Mechatronics Bachelor (Third year) === * Tutorials and hands-on in continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> === Micro and Nano Electronics Master (First year) === * Course, tutorials and hands-on in discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === Past lectures === == TPS FIP Third year == * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses supervision (defended theses) ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), defended on May 3 2023: Shared control for minimally invasive surgery ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University Verona), defended on January 16 2023 ** Gaelle Thomas, defended on October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Laure-Anaïs Chanel, thèse soutenue en mars 2016 (Traitement par HIFU robotisé sous imagerie échographique, funded by CAMI labex) ** Paolo Cabras, defendd in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021 * Co-supervisions: ** Fernando Gonzalez Herrera, (with Benoit Rosa,Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020 ** Paul Mondou (with Jonathan Vappou and Benoit Larrat (CEA Neurospin)), funded by CAMI Labex, since October 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** Tania Olmo Fajardo ** Edgard Weissrock ** François Lavieille ** Thibault Poignonec ** Xuan Thao Ha ** Mohamed Amine Falek == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » <!-- = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. --> =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | 11e92d2781d0fbfbc927b334bde34f054d5624d4 479 478 2023-06-05T13:09:14Z Nageotte 14 /* Courses */ wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Associate Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> =News : Two open PhD positions in Medical robotics= == Vision-based Trajectory Tracking Robust to Modeling Errors == === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 == Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening == === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 =Curriculum Vitae= * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shool, Strasbourg. Major in robotics. =Responsibilities= * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In Telecom Physique Strasbourg === ==== Healthtech Master and Third year TIS DTMI (M2 level), ==== * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> === TPS, M2 IRIV / IRMC === * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> === TPS, Second year and M1 IRIV === * Tutorials on OpenCV * Computer vision course (mosaicking, reconstruction of planar objects) === In Physics and engineering department of University of Strasbourg === === Electronic systems and Mechatronics Bachelor (Third year) === * Tutorials and hands-on in continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> === Micro and Nano Electronics Master (First year) === * Course, tutorials and hands-on in discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === Past lectures === == TPS FIP Third year == * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses supervision (defended theses) ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), defended on May 3 2023: Shared control for minimally invasive surgery ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University Verona), defended on January 16 2023 ** Gaelle Thomas, defended on October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Laure-Anaïs Chanel, thèse soutenue en mars 2016 (Traitement par HIFU robotisé sous imagerie échographique, funded by CAMI labex) ** Paolo Cabras, defendd in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021 * Co-supervisions: ** Fernando Gonzalez Herrera, (with Benoit Rosa,Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020 ** Paul Mondou (with Jonathan Vappou and Benoit Larrat (CEA Neurospin)), funded by CAMI Labex, since October 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** Tania Olmo Fajardo ** Edgard Weissrock ** François Lavieille ** Thibault Poignonec ** Xuan Thao Ha ** Mohamed Amine Falek == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » <!-- = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. --> =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | 24203bbbc758d96beef99f5c64b0cdc4252d9c92 480 479 2023-06-05T13:10:11Z Nageotte 14 /* Courses */ wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Associate Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> =News : Two open PhD positions in Medical robotics= == Vision-based Trajectory Tracking Robust to Modeling Errors == === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 == Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening == === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 =Curriculum Vitae= * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shool, Strasbourg. Major in robotics. =Responsibilities= * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In Telecom Physique Strasbourg === ==== Healthtech Master and Third year TIS DTMI (M2 level), ==== * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> ==== M2 IRIV / IRMC ==== * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> ==== TPS, Second year and M1 IRIV ==== * Tutorials on OpenCV * Computer vision course (mosaicking, reconstruction of planar objects) === In Physics and engineering department of University of Strasbourg === ==== Electronic systems and Mechatronics Bachelor (Third year) ==== * Tutorials and hands-on in continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> ==== Micro and Nano Electronics Master (First year) ==== * Course, tutorials and hands-on in discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === Past lectures === == TPS FIP Third year == * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses supervision (defended theses) ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), defended on May 3 2023: Shared control for minimally invasive surgery ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University Verona), defended on January 16 2023 ** Gaelle Thomas, defended on October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Laure-Anaïs Chanel, thèse soutenue en mars 2016 (Traitement par HIFU robotisé sous imagerie échographique, funded by CAMI labex) ** Paolo Cabras, defendd in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021 * Co-supervisions: ** Fernando Gonzalez Herrera, (with Benoit Rosa,Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020 ** Paul Mondou (with Jonathan Vappou and Benoit Larrat (CEA Neurospin)), funded by CAMI Labex, since October 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** Tania Olmo Fajardo ** Edgard Weissrock ** François Lavieille ** Thibault Poignonec ** Xuan Thao Ha ** Mohamed Amine Falek == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » <!-- = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. --> =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | 2708cefc999304ba99c4b10e6e8fab2dfebad42d 481 480 2023-06-05T13:10:27Z Nageotte 14 /* TPS FIP Third year */ wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Associate Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> =News : Two open PhD positions in Medical robotics= == Vision-based Trajectory Tracking Robust to Modeling Errors == === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 == Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening == === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 =Curriculum Vitae= * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shool, Strasbourg. Major in robotics. =Responsibilities= * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In Telecom Physique Strasbourg === ==== Healthtech Master and Third year TIS DTMI (M2 level), ==== * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> ==== M2 IRIV / IRMC ==== * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> ==== TPS, Second year and M1 IRIV ==== * Tutorials on OpenCV * Computer vision course (mosaicking, reconstruction of planar objects) === In Physics and engineering department of University of Strasbourg === ==== Electronic systems and Mechatronics Bachelor (Third year) ==== * Tutorials and hands-on in continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> ==== Micro and Nano Electronics Master (First year) ==== * Course, tutorials and hands-on in discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === Past lectures === ==== TPS FIP Third year ==== * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses supervision (defended theses) ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), defended on May 3 2023: Shared control for minimally invasive surgery ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University Verona), defended on January 16 2023 ** Gaelle Thomas, defended on October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Laure-Anaïs Chanel, thèse soutenue en mars 2016 (Traitement par HIFU robotisé sous imagerie échographique, funded by CAMI labex) ** Paolo Cabras, defendd in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021 * Co-supervisions: ** Fernando Gonzalez Herrera, (with Benoit Rosa,Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020 ** Paul Mondou (with Jonathan Vappou and Benoit Larrat (CEA Neurospin)), funded by CAMI Labex, since October 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** Tania Olmo Fajardo ** Edgard Weissrock ** François Lavieille ** Thibault Poignonec ** Xuan Thao Ha ** Mohamed Amine Falek == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » <!-- = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. --> =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | 588bcd8255fb304ed2b2c5b09d0473117fae40a0 482 481 2023-06-08T06:42:06Z Nageotte 14 /* Research */ wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Associate Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> =News : Two open PhD positions in Medical robotics= == Vision-based Trajectory Tracking Robust to Modeling Errors == === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 == Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening == === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 =Curriculum Vitae= * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shool, Strasbourg. Major in robotics. =Responsibilities= * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In Telecom Physique Strasbourg === ==== Healthtech Master and Third year TIS DTMI (M2 level), ==== * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> ==== M2 IRIV / IRMC ==== * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> ==== TPS, Second year and M1 IRIV ==== * Tutorials on OpenCV * Computer vision course (mosaicking, reconstruction of planar objects) === In Physics and engineering department of University of Strasbourg === ==== Electronic systems and Mechatronics Bachelor (Third year) ==== * Tutorials and hands-on in continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> ==== Micro and Nano Electronics Master (First year) ==== * Course, tutorials and hands-on in discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === Past lectures === ==== TPS FIP Third year ==== * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses supervision (defended theses) ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), defended on May 3 2023: Shared control for minimally invasive surgery ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University Verona), defended on January 16 2023 ** Gaelle Thomas, defended on October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Laure-Anaïs Chanel, thèse soutenue en mars 2016 (Traitement par HIFU robotisé sous imagerie échographique, funded by CAMI labex) ** Paolo Cabras, defendd in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021 * Co-supervisions: ** Fernando Gonzalez Herrera, (with Benoit Rosa,Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020 ** Paul Mondou (with Jonathan Vappou and Benoit Larrat (CEA Neurospin)), funded by CAMI Labex, since October 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** Adnan Saood ** Tania Olmo Fajardo ** Edgard Weissrock ** François Lavieille ** Thibault Poignonec ** Xuan Thao Ha ** Mohamed Amine Falek == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » <!-- = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. --> =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | 3c54d59b521519e3ddf792c61417b5fd0bfe4a39 483 482 2023-06-13T09:03:27Z Nageotte 14 /* Research */ wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Associate Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> =News : Two open PhD positions in Medical robotics= == Vision-based Trajectory Tracking Robust to Modeling Errors == === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 == Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening == === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 =Curriculum Vitae= * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shool, Strasbourg. Major in robotics. =Responsibilities= * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In Telecom Physique Strasbourg === ==== Healthtech Master and Third year TIS DTMI (M2 level), ==== * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> ==== M2 IRIV / IRMC ==== * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> ==== TPS, Second year and M1 IRIV ==== * Tutorials on OpenCV * Computer vision course (mosaicking, reconstruction of planar objects) === In Physics and engineering department of University of Strasbourg === ==== Electronic systems and Mechatronics Bachelor (Third year) ==== * Tutorials and hands-on in continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> ==== Micro and Nano Electronics Master (First year) ==== * Course, tutorials and hands-on in discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === Past lectures === ==== TPS FIP Third year ==== * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses supervision (defended theses) ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), defended on May 3 2023: Shared control for minimally invasive surgery ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University Verona), defended on January 16 2023 ** Gaelle Thomas, defended in October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Oscar Caravaca Mora, defended in February 2020 (Development of steerable OCT catheterfor endoscopic applications) ** Laure-Anaïs Chanel, defended in March 2016 (Robotic HIFU treatments under ultrasounds imaging, funded by CAMI labex) ** Paolo Cabras, defended in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021 * Co-supervisions: ** Fernando Gonzalez Herrera, (with Benoit Rosa,Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020 ** Paul Mondou (with Jonathan Vappou and Benoit Larrat (CEA Neurospin)), funded by CAMI Labex, since October 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** Adnan Saood ** Tania Olmo Fajardo ** Edgard Weissrock ** François Lavieille ** Thibault Poignonec ** Xuan Thao Ha ** Mohamed Amine Falek == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » <!-- = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. --> =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | 33e6105b71c61944815ef9edf95278d204bb9f51 484 483 2023-06-14T10:05:40Z Nageotte 14 /* Research */ wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Associate Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> =News : Two open PhD positions in Medical robotics= == Vision-based Trajectory Tracking Robust to Modeling Errors == === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 == Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening == === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 =Curriculum Vitae= * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shool, Strasbourg. Major in robotics. =Responsibilities= * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In Telecom Physique Strasbourg === ==== Healthtech Master and Third year TIS DTMI (M2 level), ==== * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> ==== M2 IRIV / IRMC ==== * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> ==== TPS, Second year and M1 IRIV ==== * Tutorials on OpenCV * Computer vision course (mosaicking, reconstruction of planar objects) === In Physics and engineering department of University of Strasbourg === ==== Electronic systems and Mechatronics Bachelor (Third year) ==== * Tutorials and hands-on in continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> ==== Micro and Nano Electronics Master (First year) ==== * Course, tutorials and hands-on in discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === Past lectures === ==== TPS FIP Third year ==== * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses supervision (defended theses) ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), defended on May 3 2023: Shared control for minimally invasive surgery ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University of Verona, Italy)), defended on January 16 2023 ** Gaelle Thomas, defended in October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Oscar Caravaca Mora, defended in February 2020 (Development of steerable OCT catheterfor endoscopic applications) ** Laure-Anaïs Chanel, defended in March 2016 (Robotic HIFU treatments under ultrasounds imaging, funded by CAMI labex) ** Paolo Cabras, defended in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021 * Co-supervisions: ** Fernando Gonzalez Herrera, (with Benoit Rosa,Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020 ** Paul Mondou (with Jonathan Vappou and Benoit Larrat (CEA Neurospin)), funded by CAMI Labex, since October 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** Adnan Saood ** Tania Olmo Fajardo ** Edgard Weissrock ** François Lavieille ** Thibault Poignonec ** Xuan Thao Ha ** Mohamed Amine Falek == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » <!-- = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. --> =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | 6e40278359e93d76de66b3f8408b1fc8993a7a25 495 484 2023-06-28T07:20:40Z Nageotte 14 wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Associate Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> <!-- =News : Two open PhD positions in Medical robotics= == Vision-based Trajectory Tracking Robust to Modeling Errors == === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 == Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening == === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 --> =Curriculum Vitae= * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shool, Strasbourg. Major in robotics. =Responsibilities= * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In Telecom Physique Strasbourg === ==== Healthtech Master and Third year TIS DTMI (M2 level), ==== * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> ==== M2 IRIV / IRMC ==== * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> ==== TPS, Second year and M1 IRIV ==== * Tutorials on OpenCV * Computer vision course (mosaicking, reconstruction of planar objects) === In Physics and engineering department of University of Strasbourg === ==== Electronic systems and Mechatronics Bachelor (Third year) ==== * Tutorials and hands-on in continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> ==== Micro and Nano Electronics Master (First year) ==== * Course, tutorials and hands-on in discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === Past lectures === ==== TPS FIP Third year ==== * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses supervision (defended theses) ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), defended on May 3 2023: Shared control for minimally invasive surgery ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University of Verona, Italy)), defended on January 16 2023 ** Gaelle Thomas, defended in October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Oscar Caravaca Mora, defended in February 2020 (Development of steerable OCT catheterfor endoscopic applications) ** Laure-Anaïs Chanel, defended in March 2016 (Robotic HIFU treatments under ultrasounds imaging, funded by CAMI labex) ** Paolo Cabras, defended in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021 * Co-supervisions: ** Fernando Gonzalez Herrera, (with Benoit Rosa,Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020 ** Paul Mondou (with Jonathan Vappou and Benoit Larrat (CEA Neurospin)), funded by CAMI Labex, since October 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** Adnan Saood ** Tania Olmo Fajardo ** Edgard Weissrock ** François Lavieille ** Thibault Poignonec ** Xuan Thao Ha ** Mohamed Amine Falek == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » <!-- = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. --> =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | 59dd5f3afe452073c48242fa777e20cc54b49ed2 0 16 472 408 2023-05-24T11:43:06Z Glods 29 wikitext text/x-wiki '''5/6 months M2 internship: Registration of biomechanical models with ultrasound images (RADIUS project)'''<br> Image-guided percutaneous methods have been progressively recognized as an efficient alternative for treating Hepatocellular Carcinoma (HCC). Non-invasive imaging techniques are required to control the needle's placement efficiently. The most spread imaging modality is Ultrasounds (US). This project aims at developing a novel solution for needle steering using intra-operative US images and non-rigid registration of a biomechanical model. We are looking for a trainee for a period of 5 to 6 months (between February and August 2023), level Master 2 or engineering school around the medical and surgical simulation for the insertion of needles guided by the image. This internship will concern the registration of the FE model. The biomechanical models will be used to extrapolate the 3D displacement of the volume, even where no imaging data are available. Such an approach can then be used to display with Augmented Reality (AR) 3D information of the organ on top of medical images and automatic needle steering. For this purpose, we will develop solutions to localize the probe and the US image's plane with an external infrared camera system (Optitrack). <div style="position: relative; overflow: hidden; height: 300px;"> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:TR1.jpg|right|500px| RADIUS 1]]</div> <div style="position: relative; height: 1%;">[[Image:TR2.jpg|right|500px| RADIUS 2]]</div> <div style="position: relative; height: 1%;">[[Image:TR3.jpg|right|500px| RADIUS 3]]</div> </slideshow> </div> </div> Profile required: Very good level of programming in C++ / Good knowledge of image registration and biomechanical simulation / Experience in SOFA is a plus. Supervision: Dr. Hadrien Courtecuisse (CR CNRS) / Dr. Simon Chatelin (CR CNRS), Location: ICube (RDH and MLMS teams), civil hospital site (IHU and Clovis Vincent). [mailto:hcourtecuisse@unistra.fr Contact] '''[https://hadrien.courtecuisse.cnrs.fr/wp-content/uploads/job/stage2023.pdf Click Here for More details]''' '''[http://camma.u-strasbg.fr/opportunities CAMMA group]''': Computational Analysis and Modeling of Medical Activities<br> We are looking for motivated and talented students with knowledge in computer vision and/or machine learning who can contribute to the development of our computer vision system for the operating room. Please feel free to contact Nicolas Padoy if you are interested to do your master's thesis or an internship with us (funding of ~500Euros/month will be provided during 4 to 6 months). The successful candidates will be part of a dynamic and international research group hosted within IHU Strasbourg , at the University Hospital of Strasbourg. They will thereby have direct contact with clinicians, industrial partners and also have access to an exceptional research environment. The CAMMA project is supported by the laboratory of excellence CAMI, the IdEx Unistra and IHU Strasbourg. f61f48d4e2bd7a3d25449738ee3d1ac96b02ee2e 0 64 473 323 2023-05-27T06:38:23Z Laroche 8 /* Publications */ wikitext text/x-wiki [[Image:Edouard2019z2.jpeg|right|150px]] '''Professeur des Universités en automatique (section CNU 61)''' Thématiques : commande robuste, modélisation et identification, commande des robots, systèmes flexibles, commande des systèmes électriques =Contact= ICube - AVR<br /> Bd S. Brant, BP 10413, F-67412 Illkirch cedex<br /> Tel: +33 3 68 85 44 68 <br /> [mailto:laroche@unistra.fr laroche@unistra.fr]<br /> [[Sujets_de_stages|Stages proposés]]<br /> [[Sujets_de_thèses|Sujets de thèse de doctorat proposés]] =Parcours= *Né en 1971 à Paris. *Ingénieur de l'[https://ensem.univ-lorraine.fr École Nationale Supérieure d'Électricité et de Mécanique de Nancy] et titulaire du DEA PROTEE en 1994<br /> *Ancien élève de l'[https://ens-paris-saclay.fr ENS de Cachan/Paris Saclay], Agrégé de génie électrique en 1995, titulaire du DEA de didactique des sciences et techniques (1996)<br /> *Docteur de l'ENS de Cachan (2000). Titre de la [http://www.theses.fr/2000DENS0012 thèse] : ''Méthodologies multimodèles pour l’identification et la commande robuste de la machine asynchrone'' dirigée par [http://www.satie.ens-cachan.fr/version-francaise/les-membres/chercheurs-et-enseignants-chercheurs/chercheurs-pole-siame/abou-kandil-hisham-214839.kjsp?RH=1371131439750 H. Abou-Kandil] et J.P. Louis. <br /> *Maître de conférences à l'Université Louis Pasteur de Strasbourg de 2000 à 2008 <br /> *Habilité à dirigé des recherches en 2007. Titre de l'HDR : [http://eavr.u-strasbg.fr/~laroche/hdr/HDR-EL.pdf ''Identification et Commande Robuste de Systèmes Electromécaniques'' ]. Garant: [[Michel de Mathelin personal web page|M. de Mathelin]], rapporteurs: [http://www.cran.univ-lorraine.fr/detailindividupublic.php?appel=annuaire&codetheme=&codeindividu=00186&codelangue=FR A. Richard], [http://homepages.laas.fr/arzelier/ D. Arzelier] et [https://www.researchgate.net/profile/Said_Ahzi S. Ahzi] <br /> *Professeur des Universités à l'[http://www.unistra.fr/ Université de Strasbourg] depuis 2008 <br /> =Responsabilités= == Actuelles == * Chargé de mission Qualité de formations auprès de la vice-présidente Formation et parcours de réussite depuis 2021 * Directeur adjoint de la [http://www.physique-ingenierie.unistra.fr Faculté de physique et ingénierie] depuis 2016 * Référent "[https://evaluation-formation.unistra.fr qualité des formations]" de la faculté de physique et ingénierie depuis 2012 * Membre élu du conseil du laboratoire ICube * Responsable du développement d'un module pour le [https://www.unisciel.fr/2021/04/15/presentation-du-projet-hilisit/ projet HILISIT] == Antérieures == * Organisation de conférences: ** [https://cdc2019.ieeecss.org CDC 2019] (1600 participants) : responsable de l'organisation locale ** [http://www.ifac2017.org/ IFAC World Congress 2017] (3000 participants) : responsable des inscriptions (avec [http://www.supelec.fr/360_p_10005/sorin-olaru.html Sorin Olaru] de Centrale-Supélec) ** [http://www.ecc14.eu/ ECC'14] (European Control Conférence, 600 participants) : responsable de l'organisation locale ** [https://jdjnmacs2013.sciencesconf.org/ JD-JN MACS 2013] (Journées doctorales et Nationales du GDR MACS) : responsable de l'organisation locale * Animateur du [[w3.onera.fr/mosar/|Groupe de Travail "Méthodes et Outils pour la Synthèse et l'Analyse en Robustesse"]] du [http://www.univ-valenciennes.fr/gdr-macs/node/4407 GDR MACS (Groupement de Recherche "Modélisation, Analyse et Conduite des Systèmes")] de 2007 à 2014 * Responsable de la licence professionnelle "Qualité et Maîtrise de l'Énergie Électrique" de 2004 à 2024 =Activité d'enseignements= Mes ressources pégagogiques sont disponibles sur la [https://moodle3.unistra.fr/ plateforme Moodle] (accès restreint) et sur http://eavr.u-strasbg.fr/~laroche/student/ (non maintenu). == [http://www.physique-ingenierie.unistra.fr/ Faculté de Physique et Ingénierie] == * [http://www.physique-ingenierie.unistra.fr/spip.php?article7 Licence Physique et Sciences pour l'Ingénieur] ** [https://moodle3.unistra.fr/course/view.php?id=1918 Méthodologies du travail universitaire] (responsable de l'UE) ** [https://moodle3.unistra.fr/course/view.php?id=1929 Projet Personnel et Professionnel] ** [https://moodle3.unistra.fr/course/view.php?id=9463 Automatique] (co-responsable de l'UE) * [http://www.physique-ingenierie.unistra.fr/spip.php?article10 Licence Professionnelle Efficacité Énergétique] ** Méthodologies du travail ** [https://moodle3.unistra.fr/course/view.php?id=2754 Préparation et valorisation de l'apprentissage] * [http://www.physique-ingenierie.unistra.fr/spip.php?rubrique21 Master PAIP] ** [http://www.physique-ingenierie.unistra.fr/spip.php?article103 Spécialité Mécatronique et Énergie] *** Gestion de l'Énergie *** [https://moodle3.unistra.fr/course/view.php?id=1933 Conversion électro-mécanique] *** [https://moodle3.unistra.fr/course/view.php?id=1932 Capteurs Industriels] * Master GI, PAIP et SGM ** [https://moodle3.unistra.fr/course/view.php?id=2765 Valorisation de stage] == [http://www.telecom-physique.fr/ Télécom-Physique-Strasbourg] == * [http://fip2i-alsace.u-strasbg.fr/ FIP] 1a : [https://moodle3.unistra.fr/course/view.php?id=1927 Automatique continue] * TPS 2a : [[Ingénierie durable]] * TPS 3a & [http://master-iriv.u-strasbg.fr/index.php Master IRIV] [http://master-iriv.u-strasbg.fr/index.php/Parcours_AR parcours Automatique et Robotique] ** [https://docs.google.com/document/d/1gb7l31QD8xR85JuKdDi5Qa_bGg_lj3Tqo9ggBN5yY50/pub Commande robuste] (assuré par I.G. Bara depuis 2018) ** [https://docs.google.com/document/d/1fvn9BTqcZZOIPOZaz7QYWmRdz1AoKsTr42ylOJx0v7w/pub Technologie des asservissements] (partie dimensionnement) == [https://www.unistra.fr/index.php?id=27885&tx_unistrarof_pi1%5Brof-program%5D=ME287&cHash=c3f37b922fa8d67f86a42207f338fb8b Licence Sciences pour la santé] == * [https://moodle3.unistra.fr/course/view.php?id=13930 Méthodologies du travail universitaire] (responsable de l'UE) =Activités de recherche= ==Commande robuste des robots flexibles== * Problématique développée depuis 2002 <br/> * Collaboration avec [http://www.lias-lab.fr/perso/guillaumemercere/ G. Mercère] (LIAS, Poitiers), [http://www.unilim.fr/pages_perso/olivier.prot/index.html O. Prot] (XLim, Limoges). Collègues associés : [http://eavr.u-strasbg.fr/~bara I. Bara], [[Page personnelle de Loic Cuvillon|L. Cuvillon]] et [[Page personnelle de Jacques Gangloff|J. Gangloff]] <br/> ===Problématiques=== * Modélisation et identification de modèles LPV (linéaires à paramètres variants) des manipulateurs séries présentant des flexibilités ** [http://icube-avr.unistra.fr/en/index.php/Identification_benchmark Benchmark sur l'identification d'un bras robotique avec mesure par vision (en anglais)] * Commande robuste permettant de garantir les performances sur un espace de travail * Identification et commande des robots parallèles à câbles ===Financements=== * Projet [https://hypnovr.icube.unistra.fr/index.php/Le_projet HypnoVR 2017] financé par la Région Grand-Est et le FEDER * Projet CNRS [http://newlsiit.u-strasbg.fr/idrac/index.php/Accueil PEPS IDRAC] (2010-2011) * Preciput-ANR de l'ULP (2009) ==Projets passés== * Commande de dispositifs de stabilisation actifs pour la chirurgie à coeur battant (Cardiolock et Gyrolock, 2005-2012) * Asservissement visuel pour la robotique médicale (collaboration avec l'université de Tohoku soutenue par le CNRS et le JST) [https://lsiit-cnrs.unistra.fr/sendai-strasbourg/] (2007-2012) * Commande des systèmes d'enroulement de bandes flexibles (2000-2002) * Identification et commande des machines asynchrones (moteurs électriques à induction) ==Outils développés== * [http://eavr.u-strasbg.fr/~laroche/flexrob/ Modèle d'un bras manipulateur flexible] réalisé sous Maple avec DynaFlex * [http://eavr.u-strasbg.fr/~laroche/camera/ Modèles de la mesure de position par caméra] tenant compte des effets dynamiques * [[Planar cable robot with non straight cables]] =Publications= * [https://icube-publis.unistra.fr/?author=Laroche&team=8+23#hideMenu Publications scientifiques] * Pédagogie universitaire (retours d'expérience sur des innovations pédagogiques) ** E. Laroche, ''Développement d'un module en automatique et son utilisation dans un enseignement de licence'', Colloque HILISIT, Marseille, 25-26 mai 2023. [https://drive.google.com/file/d/1LtlXRnDarjPS7QXsLgZtRYBpWsePacV9/view?usp=sharing Lien] ** E. Laroche, ''Accompagner les étudiants dans le développement de leurs méthodes de travail - l’expérience de la Licence Sciences pour la Santé de Strasbourg'', [https://sfar.org/evenement/sfar-le-congres-2021/ SFAR le congrès], septembre 2021 ** E. Laroche, ''Une expérience d'utilisation d'un tutoriel en ligne pour étoffer son enseignement'', [https://rpn.sciencesconf.org Colloque ''Enseigner et apprendre à l'université avec les ressources pédagogiques numériques''], Strasbourg, 24-25 Nov. 2020 ** E. Laroche, C. Sauter, ''Comment la mise en place d’un enseignement transversal a contribué à l’évolution de la posture d’un enseignant'', [https://idip.unistra.fr/wp-content/uploads/2019/12/Cahiers-de-lIdip-HS-AIPU-2019.pdf Actes des Journées AIPU France], p. 100-105, 2019 ** E. Laroche, ''[https://seafile.unistra.fr/f/4eb3d160fe244f869db5/ Refonte des MTU à la faculté de physique et ingénierie]'', J'IDIP, 2018 ** E. Laroche, S. Zingaretti, S. Vonie, ''Classe renversée et évaluation par les pairs : un retour d’expérience'', [https://drive.google.com/file/d/0B9il8y4PowIDZWFybjU4V2VqMG8/view Actes du 29ème Congrès de l'AIPU], p. 26-27, Lausanne, 6-9 juin 2016 =Autres pages= * [http://www.physique-ingenierie.unistra.fr/spip.php?article71 Ma page sur le site de la Faculté de physique et ingénierie] * [http://scholar.google.com/citations?user=sLoa3QMAAAAJ&hl=fr Google scholar] * [http://orcid.org/0000-0002-0607-6861 ORCID] * [https://www.researchgate.net/profile/Edouard_Laroche Research gate] * [https://www.linkedin.com/profile/view?id=62536172 LinkedIn] * [http://www.viadeo.com/profile/0021oyh4dv6ed6r3 Viadeo] * [http://www.theses.fr/168812339 theses.fr] c1aa9f7da6702c51d2610ebe062fd28e99bb2eb2 496 473 2023-07-04T17:10:08Z Laroche 8 wikitext text/x-wiki [[Image:Edouard2019z2.jpeg|right|150px]] '''Professeur des Universités en automatique (section CNU 61)''' Thématiques : commande robuste, modélisation et identification, commande des robots, systèmes flexibles, commande des systèmes électriques =Contact= ICube - AVR<br /> Bd S. Brant, BP 10413, F-67412 Illkirch cedex<br /> Tel: +33 3 68 85 44 68 <br /> [mailto:laroche@unistra.fr laroche@unistra.fr]<br /> [[Sujets_de_stages|Stages proposés]]<br /> [[Sujets_de_thèses|Sujets de thèse de doctorat proposés]] =Parcours= *Né en 1971 à Paris. *Ingénieur de l'[https://ensem.univ-lorraine.fr École Nationale Supérieure d'Électricité et de Mécanique de Nancy] et titulaire du DEA PROTEE en 1994<br /> *Ancien élève de l'[https://ens-paris-saclay.fr ENS de Cachan/Paris Saclay], Agrégé de génie électrique en 1995, titulaire du DEA de didactique des sciences et techniques (1996)<br /> *Docteur de l'ENS de Cachan (2000). Titre de la [http://www.theses.fr/2000DENS0012 thèse] : ''Méthodologies multimodèles pour l’identification et la commande robuste de la machine asynchrone'' dirigée par [http://www.satie.ens-cachan.fr/version-francaise/les-membres/chercheurs-et-enseignants-chercheurs/chercheurs-pole-siame/abou-kandil-hisham-214839.kjsp?RH=1371131439750 H. Abou-Kandil] et J.P. Louis. <br /> *Maître de conférences à l'Université Louis Pasteur de Strasbourg de 2000 à 2008 <br /> *Habilité à dirigé des recherches en 2007. Titre de l'HDR : [http://eavr.u-strasbg.fr/~laroche/hdr/HDR-EL.pdf ''Identification et Commande Robuste de Systèmes Electromécaniques'' ]. Garant: [[Michel de Mathelin personal web page|M. de Mathelin]], rapporteurs: [http://www.cran.univ-lorraine.fr/detailindividupublic.php?appel=annuaire&codetheme=&codeindividu=00186&codelangue=FR A. Richard], [http://homepages.laas.fr/arzelier/ D. Arzelier] et [https://www.researchgate.net/profile/Said_Ahzi S. Ahzi] <br /> *Professeur des Universités à l'[http://www.unistra.fr/ Université de Strasbourg] depuis 2008 <br /> =Responsabilités= == Actuelles == * Chargé de mission Qualité de formations auprès de la vice-présidente Formation et parcours de réussite depuis 2021 * Directeur adjoint de la [http://www.physique-ingenierie.unistra.fr Faculté de physique et ingénierie] depuis 2016 * Référent "[https://evaluation-formation.unistra.fr qualité des formations]" de la faculté de physique et ingénierie depuis 2012 * Membre élu du conseil du laboratoire ICube * Responsable du développement d'un module pour le [https://www.unisciel.fr/2021/04/15/presentation-du-projet-hilisit/ projet HILISIT] == Antérieures == * Organisation de conférences: ** [https://cdc2019.ieeecss.org CDC 2019] (1600 participants) : responsable de l'organisation locale ** [http://www.ifac2017.org/ IFAC World Congress 2017] (3000 participants) : responsable des inscriptions (avec [http://www.supelec.fr/360_p_10005/sorin-olaru.html Sorin Olaru] de Centrale-Supélec) ** [http://www.ecc14.eu/ ECC'14] (European Control Conférence, 600 participants) : responsable de l'organisation locale ** [https://jdjnmacs2013.sciencesconf.org/ JD-JN MACS 2013] (Journées doctorales et Nationales du GDR MACS) : responsable de l'organisation locale * Animateur du [[w3.onera.fr/mosar/|Groupe de Travail "Méthodes et Outils pour la Synthèse et l'Analyse en Robustesse"]] du [http://www.univ-valenciennes.fr/gdr-macs/node/4407 GDR MACS (Groupement de Recherche "Modélisation, Analyse et Conduite des Systèmes")] de 2007 à 2014 * Responsable de la licence professionnelle "Qualité et Maîtrise de l'Énergie Électrique" de 2004 à 2024 =Activité d'enseignements= Mes ressources pégagogiques sont disponibles sur la [https://moodle3.unistra.fr/ plateforme Moodle] (accès restreint) et sur http://eavr.u-strasbg.fr/~laroche/student/ (non maintenu). == [http://www.physique-ingenierie.unistra.fr/ Faculté de Physique et Ingénierie] == * [http://www.physique-ingenierie.unistra.fr/spip.php?article7 Licence Physique et Sciences pour l'Ingénieur] ** [https://moodle3.unistra.fr/course/view.php?id=1918 Méthodologies du travail universitaire] (responsable de l'UE) ** [https://moodle3.unistra.fr/course/view.php?id=1929 Projet Personnel et Professionnel] ** [https://moodle3.unistra.fr/course/view.php?id=9463 Automatique] (co-responsable de l'UE) * [http://www.physique-ingenierie.unistra.fr/spip.php?article10 Licence Professionnelle Efficacité Énergétique] ** Méthodologies du travail ** [https://moodle3.unistra.fr/course/view.php?id=2754 Préparation et valorisation de l'apprentissage] * [http://www.physique-ingenierie.unistra.fr/spip.php?rubrique21 Master PAIP] ** [http://www.physique-ingenierie.unistra.fr/spip.php?article103 Spécialité Mécatronique et Énergie] *** Gestion de l'Énergie *** [https://moodle3.unistra.fr/course/view.php?id=1933 Conversion électro-mécanique] *** [https://moodle3.unistra.fr/course/view.php?id=1932 Capteurs Industriels] * Master GI, PAIP et SGM ** [https://moodle3.unistra.fr/course/view.php?id=2765 Valorisation de stage] == [http://www.telecom-physique.fr/ Télécom-Physique-Strasbourg] == * [http://fip2i-alsace.u-strasbg.fr/ FIP] 1a : [https://moodle3.unistra.fr/course/view.php?id=1927 Automatique continue] * TPS 2a : [[Ingénierie durable]] * TPS 3a & [http://master-iriv.u-strasbg.fr/index.php Master IRIV] [http://master-iriv.u-strasbg.fr/index.php/Parcours_AR parcours Automatique et Robotique] ** [https://docs.google.com/document/d/1gb7l31QD8xR85JuKdDi5Qa_bGg_lj3Tqo9ggBN5yY50/pub Commande robuste] (assuré par I.G. Bara depuis 2018) ** [https://docs.google.com/document/d/1fvn9BTqcZZOIPOZaz7QYWmRdz1AoKsTr42ylOJx0v7w/pub Technologie des asservissements] (partie dimensionnement) == [https://www.unistra.fr/index.php?id=27885&tx_unistrarof_pi1%5Brof-program%5D=ME287&cHash=c3f37b922fa8d67f86a42207f338fb8b Licence Sciences pour la santé] == * [https://moodle3.unistra.fr/course/view.php?id=13930 Méthodologies du travail universitaire] (responsable de l'UE) =Activités de recherche= ==Commande robuste des robots flexibles== * Problématique développée depuis 2002 <br/> * Collaboration avec [http://www.lias-lab.fr/perso/guillaumemercere/ G. Mercère] (LIAS, Poitiers), [http://www.unilim.fr/pages_perso/olivier.prot/index.html O. Prot] (XLim, Limoges). Collègues associés : [http://eavr.u-strasbg.fr/~bara I. Bara], [[Page personnelle de Loic Cuvillon|L. Cuvillon]] et [[Page personnelle de Jacques Gangloff|J. Gangloff]] <br/> ===Problématiques=== * Modélisation et identification de modèles LPV (linéaires à paramètres variants) des manipulateurs séries présentant des flexibilités ** [http://icube-avr.unistra.fr/en/index.php/Identification_benchmark Benchmark sur l'identification d'un bras robotique avec mesure par vision (en anglais)] * Commande robuste permettant de garantir les performances sur un espace de travail * Identification et commande des robots parallèles à câbles ===Financements=== * Projet [https://hypnovr.icube.unistra.fr/index.php/Le_projet HypnoVR 2017] financé par la Région Grand-Est et le FEDER * Projet CNRS [http://newlsiit.u-strasbg.fr/idrac/index.php/Accueil PEPS IDRAC] (2010-2011) * Preciput-ANR de l'ULP (2009) ==Projets passés== * Commande de dispositifs de stabilisation actifs pour la chirurgie à coeur battant (Cardiolock et Gyrolock, 2005-2012) * Asservissement visuel pour la robotique médicale (collaboration avec l'université de Tohoku soutenue par le CNRS et le JST) [https://lsiit-cnrs.unistra.fr/sendai-strasbourg/] (2007-2012) * Commande des systèmes d'enroulement de bandes flexibles (2000-2002) * Identification et commande des machines asynchrones (moteurs électriques à induction) ==Outils développés== * [http://eavr.u-strasbg.fr/~laroche/flexrob/ Modèle d'un bras manipulateur flexible] réalisé sous Maple avec DynaFlex * [http://eavr.u-strasbg.fr/~laroche/camera/ Modèles de la mesure de position par caméra] tenant compte des effets dynamiques * [[Planar cable robot with non straight cables]] =Publications= * [https://icube-publis.unistra.fr/?author=Laroche&team=8+23#hideMenu Publications scientifiques] * Pédagogie universitaire (retours d'expérience sur des innovations pédagogiques) ** A. Weber, M. Caublot, E. Laroche, ''Modules de formation aux MTU et scénario hybride pour accompagner les L1 Sciences pour la Santé'', MoodleMoot, Troyes, 5-7 juillet 2023 ** E. Laroche, ''Développement d'un module en automatique et son utilisation dans un enseignement de licence'', Colloque HILISIT, Marseille, 25-26 mai 2023. [https://drive.google.com/file/d/1LtlXRnDarjPS7QXsLgZtRYBpWsePacV9/view?usp=sharing Lien] ** E. Laroche, ''Accompagner les étudiants dans le développement de leurs méthodes de travail - l’expérience de la Licence Sciences pour la Santé de Strasbourg'', [https://sfar.org/evenement/sfar-le-congres-2021/ SFAR le congrès], septembre 2021 ** E. Laroche, ''Une expérience d'utilisation d'un tutoriel en ligne pour étoffer son enseignement'', [https://rpn.sciencesconf.org Colloque ''Enseigner et apprendre à l'université avec les ressources pédagogiques numériques''], Strasbourg, 24-25 Nov. 2020 ** E. Laroche, C. Sauter, ''Comment la mise en place d’un enseignement transversal a contribué à l’évolution de la posture d’un enseignant'', [https://idip.unistra.fr/wp-content/uploads/2019/12/Cahiers-de-lIdip-HS-AIPU-2019.pdf Actes des Journées AIPU France], p. 100-105, 2019 ** E. Laroche, ''[https://seafile.unistra.fr/f/4eb3d160fe244f869db5/ Refonte des MTU à la faculté de physique et ingénierie]'', J'IDIP, 2018 ** E. Laroche, S. Zingaretti, S. Vonie, ''Classe renversée et évaluation par les pairs : un retour d’expérience'', [https://drive.google.com/file/d/0B9il8y4PowIDZWFybjU4V2VqMG8/view Actes du 29ème Congrès de l'AIPU], p. 26-27, Lausanne, 6-9 juin 2016 =Autres pages= * [http://www.physique-ingenierie.unistra.fr/spip.php?article71 Ma page sur le site de la Faculté de physique et ingénierie] * [http://scholar.google.com/citations?user=sLoa3QMAAAAJ&hl=fr Google scholar] * [http://orcid.org/0000-0002-0607-6861 ORCID] * [https://www.researchgate.net/profile/Edouard_Laroche Research gate] * [https://www.linkedin.com/profile/view?id=62536172 LinkedIn] * [http://www.viadeo.com/profile/0021oyh4dv6ed6r3 Viadeo] * [http://www.theses.fr/168812339 theses.fr] c3014b57f580abbc9b2e3cb90d6aaa3d03bd3526 497 496 2023-07-04T17:11:31Z Laroche 8 /* Publications */ wikitext text/x-wiki [[Image:Edouard2019z2.jpeg|right|150px]] '''Professeur des Universités en automatique (section CNU 61)''' Thématiques : commande robuste, modélisation et identification, commande des robots, systèmes flexibles, commande des systèmes électriques =Contact= ICube - AVR<br /> Bd S. Brant, BP 10413, F-67412 Illkirch cedex<br /> Tel: +33 3 68 85 44 68 <br /> [mailto:laroche@unistra.fr laroche@unistra.fr]<br /> [[Sujets_de_stages|Stages proposés]]<br /> [[Sujets_de_thèses|Sujets de thèse de doctorat proposés]] =Parcours= *Né en 1971 à Paris. *Ingénieur de l'[https://ensem.univ-lorraine.fr École Nationale Supérieure d'Électricité et de Mécanique de Nancy] et titulaire du DEA PROTEE en 1994<br /> *Ancien élève de l'[https://ens-paris-saclay.fr ENS de Cachan/Paris Saclay], Agrégé de génie électrique en 1995, titulaire du DEA de didactique des sciences et techniques (1996)<br /> *Docteur de l'ENS de Cachan (2000). Titre de la [http://www.theses.fr/2000DENS0012 thèse] : ''Méthodologies multimodèles pour l’identification et la commande robuste de la machine asynchrone'' dirigée par [http://www.satie.ens-cachan.fr/version-francaise/les-membres/chercheurs-et-enseignants-chercheurs/chercheurs-pole-siame/abou-kandil-hisham-214839.kjsp?RH=1371131439750 H. Abou-Kandil] et J.P. Louis. <br /> *Maître de conférences à l'Université Louis Pasteur de Strasbourg de 2000 à 2008 <br /> *Habilité à dirigé des recherches en 2007. Titre de l'HDR : [http://eavr.u-strasbg.fr/~laroche/hdr/HDR-EL.pdf ''Identification et Commande Robuste de Systèmes Electromécaniques'' ]. Garant: [[Michel de Mathelin personal web page|M. de Mathelin]], rapporteurs: [http://www.cran.univ-lorraine.fr/detailindividupublic.php?appel=annuaire&codetheme=&codeindividu=00186&codelangue=FR A. Richard], [http://homepages.laas.fr/arzelier/ D. Arzelier] et [https://www.researchgate.net/profile/Said_Ahzi S. Ahzi] <br /> *Professeur des Universités à l'[http://www.unistra.fr/ Université de Strasbourg] depuis 2008 <br /> =Responsabilités= == Actuelles == * Chargé de mission Qualité de formations auprès de la vice-présidente Formation et parcours de réussite depuis 2021 * Directeur adjoint de la [http://www.physique-ingenierie.unistra.fr Faculté de physique et ingénierie] depuis 2016 * Référent "[https://evaluation-formation.unistra.fr qualité des formations]" de la faculté de physique et ingénierie depuis 2012 * Membre élu du conseil du laboratoire ICube * Responsable du développement d'un module pour le [https://www.unisciel.fr/2021/04/15/presentation-du-projet-hilisit/ projet HILISIT] == Antérieures == * Organisation de conférences: ** [https://cdc2019.ieeecss.org CDC 2019] (1600 participants) : responsable de l'organisation locale ** [http://www.ifac2017.org/ IFAC World Congress 2017] (3000 participants) : responsable des inscriptions (avec [http://www.supelec.fr/360_p_10005/sorin-olaru.html Sorin Olaru] de Centrale-Supélec) ** [http://www.ecc14.eu/ ECC'14] (European Control Conférence, 600 participants) : responsable de l'organisation locale ** [https://jdjnmacs2013.sciencesconf.org/ JD-JN MACS 2013] (Journées doctorales et Nationales du GDR MACS) : responsable de l'organisation locale * Animateur du [[w3.onera.fr/mosar/|Groupe de Travail "Méthodes et Outils pour la Synthèse et l'Analyse en Robustesse"]] du [http://www.univ-valenciennes.fr/gdr-macs/node/4407 GDR MACS (Groupement de Recherche "Modélisation, Analyse et Conduite des Systèmes")] de 2007 à 2014 * Responsable de la licence professionnelle "Qualité et Maîtrise de l'Énergie Électrique" de 2004 à 2024 =Activité d'enseignements= Mes ressources pégagogiques sont disponibles sur la [https://moodle3.unistra.fr/ plateforme Moodle] (accès restreint) et sur http://eavr.u-strasbg.fr/~laroche/student/ (non maintenu). == [http://www.physique-ingenierie.unistra.fr/ Faculté de Physique et Ingénierie] == * [http://www.physique-ingenierie.unistra.fr/spip.php?article7 Licence Physique et Sciences pour l'Ingénieur] ** [https://moodle3.unistra.fr/course/view.php?id=1918 Méthodologies du travail universitaire] (responsable de l'UE) ** [https://moodle3.unistra.fr/course/view.php?id=1929 Projet Personnel et Professionnel] ** [https://moodle3.unistra.fr/course/view.php?id=9463 Automatique] (co-responsable de l'UE) * [http://www.physique-ingenierie.unistra.fr/spip.php?article10 Licence Professionnelle Efficacité Énergétique] ** Méthodologies du travail ** [https://moodle3.unistra.fr/course/view.php?id=2754 Préparation et valorisation de l'apprentissage] * [http://www.physique-ingenierie.unistra.fr/spip.php?rubrique21 Master PAIP] ** [http://www.physique-ingenierie.unistra.fr/spip.php?article103 Spécialité Mécatronique et Énergie] *** Gestion de l'Énergie *** [https://moodle3.unistra.fr/course/view.php?id=1933 Conversion électro-mécanique] *** [https://moodle3.unistra.fr/course/view.php?id=1932 Capteurs Industriels] * Master GI, PAIP et SGM ** [https://moodle3.unistra.fr/course/view.php?id=2765 Valorisation de stage] == [http://www.telecom-physique.fr/ Télécom-Physique-Strasbourg] == * [http://fip2i-alsace.u-strasbg.fr/ FIP] 1a : [https://moodle3.unistra.fr/course/view.php?id=1927 Automatique continue] * TPS 2a : [[Ingénierie durable]] * TPS 3a & [http://master-iriv.u-strasbg.fr/index.php Master IRIV] [http://master-iriv.u-strasbg.fr/index.php/Parcours_AR parcours Automatique et Robotique] ** [https://docs.google.com/document/d/1gb7l31QD8xR85JuKdDi5Qa_bGg_lj3Tqo9ggBN5yY50/pub Commande robuste] (assuré par I.G. Bara depuis 2018) ** [https://docs.google.com/document/d/1fvn9BTqcZZOIPOZaz7QYWmRdz1AoKsTr42ylOJx0v7w/pub Technologie des asservissements] (partie dimensionnement) == [https://www.unistra.fr/index.php?id=27885&tx_unistrarof_pi1%5Brof-program%5D=ME287&cHash=c3f37b922fa8d67f86a42207f338fb8b Licence Sciences pour la santé] == * [https://moodle3.unistra.fr/course/view.php?id=13930 Méthodologies du travail universitaire] (responsable de l'UE) =Activités de recherche= ==Commande robuste des robots flexibles== * Problématique développée depuis 2002 <br/> * Collaboration avec [http://www.lias-lab.fr/perso/guillaumemercere/ G. Mercère] (LIAS, Poitiers), [http://www.unilim.fr/pages_perso/olivier.prot/index.html O. Prot] (XLim, Limoges). Collègues associés : [http://eavr.u-strasbg.fr/~bara I. Bara], [[Page personnelle de Loic Cuvillon|L. Cuvillon]] et [[Page personnelle de Jacques Gangloff|J. Gangloff]] <br/> ===Problématiques=== * Modélisation et identification de modèles LPV (linéaires à paramètres variants) des manipulateurs séries présentant des flexibilités ** [http://icube-avr.unistra.fr/en/index.php/Identification_benchmark Benchmark sur l'identification d'un bras robotique avec mesure par vision (en anglais)] * Commande robuste permettant de garantir les performances sur un espace de travail * Identification et commande des robots parallèles à câbles ===Financements=== * Projet [https://hypnovr.icube.unistra.fr/index.php/Le_projet HypnoVR 2017] financé par la Région Grand-Est et le FEDER * Projet CNRS [http://newlsiit.u-strasbg.fr/idrac/index.php/Accueil PEPS IDRAC] (2010-2011) * Preciput-ANR de l'ULP (2009) ==Projets passés== * Commande de dispositifs de stabilisation actifs pour la chirurgie à coeur battant (Cardiolock et Gyrolock, 2005-2012) * Asservissement visuel pour la robotique médicale (collaboration avec l'université de Tohoku soutenue par le CNRS et le JST) [https://lsiit-cnrs.unistra.fr/sendai-strasbourg/] (2007-2012) * Commande des systèmes d'enroulement de bandes flexibles (2000-2002) * Identification et commande des machines asynchrones (moteurs électriques à induction) ==Outils développés== * [http://eavr.u-strasbg.fr/~laroche/flexrob/ Modèle d'un bras manipulateur flexible] réalisé sous Maple avec DynaFlex * [http://eavr.u-strasbg.fr/~laroche/camera/ Modèles de la mesure de position par caméra] tenant compte des effets dynamiques * [[Planar cable robot with non straight cables]] =Publications= ==Publications scientifiques== * [https://icube-publis.unistra.fr/?author=Laroche&team=8+23#hideMenu Publications scientifiques] ==Pédagogie universitaire (retours d'expérience sur des innovations pédagogiques)== * A. Weber, M. Caublot, E. Laroche, ''Modules de formation aux MTU et scénario hybride pour accompagner les L1 Sciences pour la Santé'', MoodleMoot, Troyes, 5-7 juillet 2023 * E. Laroche, ''Développement d'un module en automatique et son utilisation dans un enseignement de licence'', Colloque HILISIT, Marseille, 25-26 mai 2023. [https://drive.google.com/file/d/1LtlXRnDarjPS7QXsLgZtRYBpWsePacV9/view?usp=sharing Lien] * E. Laroche, ''Accompagner les étudiants dans le développement de leurs méthodes de travail - l’expérience de la Licence Sciences pour la Santé de Strasbourg'', [https://sfar.org/evenement/sfar-le-congres-2021/ SFAR le congrès], septembre 2021 * E. Laroche, ''Une expérience d'utilisation d'un tutoriel en ligne pour étoffer son enseignement'', [https://rpn.sciencesconf.org Colloque ''Enseigner et apprendre à l'université avec les ressources pédagogiques numériques''], Strasbourg, 24-25 Nov. 2020 * E. Laroche, C. Sauter, ''Comment la mise en place d’un enseignement transversal a contribué à l’évolution de la posture d’un enseignant'', [https://idip.unistra.fr/wp-content/uploads/2019/12/Cahiers-de-lIdip-HS-AIPU-2019.pdf Actes des Journées AIPU France], p. 100-105, 2019 * E. Laroche, ''[https://seafile.unistra.fr/f/4eb3d160fe244f869db5/ Refonte des MTU à la faculté de physique et ingénierie]'', J'IDIP, 2018 * E. Laroche, S. Zingaretti, S. Vonie, ''Classe renversée et évaluation par les pairs : un retour d’expérience'', [https://drive.google.com/file/d/0B9il8y4PowIDZWFybjU4V2VqMG8/view Actes du 29ème Congrès de l'AIPU], p. 26-27, Lausanne, 6-9 juin 2016 =Autres pages= * [http://www.physique-ingenierie.unistra.fr/spip.php?article71 Ma page sur le site de la Faculté de physique et ingénierie] * [http://scholar.google.com/citations?user=sLoa3QMAAAAJ&hl=fr Google scholar] * [http://orcid.org/0000-0002-0607-6861 ORCID] * [https://www.researchgate.net/profile/Edouard_Laroche Research gate] * [https://www.linkedin.com/profile/view?id=62536172 LinkedIn] * [http://www.viadeo.com/profile/0021oyh4dv6ed6r3 Viadeo] * [http://www.theses.fr/168812339 theses.fr] 22a30d157cc87693c875315366c0473e4a405dbe 498 497 2023-07-04T17:11:56Z Laroche 8 /* Publications scientifiques */ wikitext text/x-wiki [[Image:Edouard2019z2.jpeg|right|150px]] '''Professeur des Universités en automatique (section CNU 61)''' Thématiques : commande robuste, modélisation et identification, commande des robots, systèmes flexibles, commande des systèmes électriques =Contact= ICube - AVR<br /> Bd S. Brant, BP 10413, F-67412 Illkirch cedex<br /> Tel: +33 3 68 85 44 68 <br /> [mailto:laroche@unistra.fr laroche@unistra.fr]<br /> [[Sujets_de_stages|Stages proposés]]<br /> [[Sujets_de_thèses|Sujets de thèse de doctorat proposés]] =Parcours= *Né en 1971 à Paris. *Ingénieur de l'[https://ensem.univ-lorraine.fr École Nationale Supérieure d'Électricité et de Mécanique de Nancy] et titulaire du DEA PROTEE en 1994<br /> *Ancien élève de l'[https://ens-paris-saclay.fr ENS de Cachan/Paris Saclay], Agrégé de génie électrique en 1995, titulaire du DEA de didactique des sciences et techniques (1996)<br /> *Docteur de l'ENS de Cachan (2000). Titre de la [http://www.theses.fr/2000DENS0012 thèse] : ''Méthodologies multimodèles pour l’identification et la commande robuste de la machine asynchrone'' dirigée par [http://www.satie.ens-cachan.fr/version-francaise/les-membres/chercheurs-et-enseignants-chercheurs/chercheurs-pole-siame/abou-kandil-hisham-214839.kjsp?RH=1371131439750 H. Abou-Kandil] et J.P. Louis. <br /> *Maître de conférences à l'Université Louis Pasteur de Strasbourg de 2000 à 2008 <br /> *Habilité à dirigé des recherches en 2007. Titre de l'HDR : [http://eavr.u-strasbg.fr/~laroche/hdr/HDR-EL.pdf ''Identification et Commande Robuste de Systèmes Electromécaniques'' ]. Garant: [[Michel de Mathelin personal web page|M. de Mathelin]], rapporteurs: [http://www.cran.univ-lorraine.fr/detailindividupublic.php?appel=annuaire&codetheme=&codeindividu=00186&codelangue=FR A. Richard], [http://homepages.laas.fr/arzelier/ D. Arzelier] et [https://www.researchgate.net/profile/Said_Ahzi S. Ahzi] <br /> *Professeur des Universités à l'[http://www.unistra.fr/ Université de Strasbourg] depuis 2008 <br /> =Responsabilités= == Actuelles == * Chargé de mission Qualité de formations auprès de la vice-présidente Formation et parcours de réussite depuis 2021 * Directeur adjoint de la [http://www.physique-ingenierie.unistra.fr Faculté de physique et ingénierie] depuis 2016 * Référent "[https://evaluation-formation.unistra.fr qualité des formations]" de la faculté de physique et ingénierie depuis 2012 * Membre élu du conseil du laboratoire ICube * Responsable du développement d'un module pour le [https://www.unisciel.fr/2021/04/15/presentation-du-projet-hilisit/ projet HILISIT] == Antérieures == * Organisation de conférences: ** [https://cdc2019.ieeecss.org CDC 2019] (1600 participants) : responsable de l'organisation locale ** [http://www.ifac2017.org/ IFAC World Congress 2017] (3000 participants) : responsable des inscriptions (avec [http://www.supelec.fr/360_p_10005/sorin-olaru.html Sorin Olaru] de Centrale-Supélec) ** [http://www.ecc14.eu/ ECC'14] (European Control Conférence, 600 participants) : responsable de l'organisation locale ** [https://jdjnmacs2013.sciencesconf.org/ JD-JN MACS 2013] (Journées doctorales et Nationales du GDR MACS) : responsable de l'organisation locale * Animateur du [[w3.onera.fr/mosar/|Groupe de Travail "Méthodes et Outils pour la Synthèse et l'Analyse en Robustesse"]] du [http://www.univ-valenciennes.fr/gdr-macs/node/4407 GDR MACS (Groupement de Recherche "Modélisation, Analyse et Conduite des Systèmes")] de 2007 à 2014 * Responsable de la licence professionnelle "Qualité et Maîtrise de l'Énergie Électrique" de 2004 à 2024 =Activité d'enseignements= Mes ressources pégagogiques sont disponibles sur la [https://moodle3.unistra.fr/ plateforme Moodle] (accès restreint) et sur http://eavr.u-strasbg.fr/~laroche/student/ (non maintenu). == [http://www.physique-ingenierie.unistra.fr/ Faculté de Physique et Ingénierie] == * [http://www.physique-ingenierie.unistra.fr/spip.php?article7 Licence Physique et Sciences pour l'Ingénieur] ** [https://moodle3.unistra.fr/course/view.php?id=1918 Méthodologies du travail universitaire] (responsable de l'UE) ** [https://moodle3.unistra.fr/course/view.php?id=1929 Projet Personnel et Professionnel] ** [https://moodle3.unistra.fr/course/view.php?id=9463 Automatique] (co-responsable de l'UE) * [http://www.physique-ingenierie.unistra.fr/spip.php?article10 Licence Professionnelle Efficacité Énergétique] ** Méthodologies du travail ** [https://moodle3.unistra.fr/course/view.php?id=2754 Préparation et valorisation de l'apprentissage] * [http://www.physique-ingenierie.unistra.fr/spip.php?rubrique21 Master PAIP] ** [http://www.physique-ingenierie.unistra.fr/spip.php?article103 Spécialité Mécatronique et Énergie] *** Gestion de l'Énergie *** [https://moodle3.unistra.fr/course/view.php?id=1933 Conversion électro-mécanique] *** [https://moodle3.unistra.fr/course/view.php?id=1932 Capteurs Industriels] * Master GI, PAIP et SGM ** [https://moodle3.unistra.fr/course/view.php?id=2765 Valorisation de stage] == [http://www.telecom-physique.fr/ Télécom-Physique-Strasbourg] == * [http://fip2i-alsace.u-strasbg.fr/ FIP] 1a : [https://moodle3.unistra.fr/course/view.php?id=1927 Automatique continue] * TPS 2a : [[Ingénierie durable]] * TPS 3a & [http://master-iriv.u-strasbg.fr/index.php Master IRIV] [http://master-iriv.u-strasbg.fr/index.php/Parcours_AR parcours Automatique et Robotique] ** [https://docs.google.com/document/d/1gb7l31QD8xR85JuKdDi5Qa_bGg_lj3Tqo9ggBN5yY50/pub Commande robuste] (assuré par I.G. Bara depuis 2018) ** [https://docs.google.com/document/d/1fvn9BTqcZZOIPOZaz7QYWmRdz1AoKsTr42ylOJx0v7w/pub Technologie des asservissements] (partie dimensionnement) == [https://www.unistra.fr/index.php?id=27885&tx_unistrarof_pi1%5Brof-program%5D=ME287&cHash=c3f37b922fa8d67f86a42207f338fb8b Licence Sciences pour la santé] == * [https://moodle3.unistra.fr/course/view.php?id=13930 Méthodologies du travail universitaire] (responsable de l'UE) =Activités de recherche= ==Commande robuste des robots flexibles== * Problématique développée depuis 2002 <br/> * Collaboration avec [http://www.lias-lab.fr/perso/guillaumemercere/ G. Mercère] (LIAS, Poitiers), [http://www.unilim.fr/pages_perso/olivier.prot/index.html O. Prot] (XLim, Limoges). Collègues associés : [http://eavr.u-strasbg.fr/~bara I. Bara], [[Page personnelle de Loic Cuvillon|L. Cuvillon]] et [[Page personnelle de Jacques Gangloff|J. Gangloff]] <br/> ===Problématiques=== * Modélisation et identification de modèles LPV (linéaires à paramètres variants) des manipulateurs séries présentant des flexibilités ** [http://icube-avr.unistra.fr/en/index.php/Identification_benchmark Benchmark sur l'identification d'un bras robotique avec mesure par vision (en anglais)] * Commande robuste permettant de garantir les performances sur un espace de travail * Identification et commande des robots parallèles à câbles ===Financements=== * Projet [https://hypnovr.icube.unistra.fr/index.php/Le_projet HypnoVR 2017] financé par la Région Grand-Est et le FEDER * Projet CNRS [http://newlsiit.u-strasbg.fr/idrac/index.php/Accueil PEPS IDRAC] (2010-2011) * Preciput-ANR de l'ULP (2009) ==Projets passés== * Commande de dispositifs de stabilisation actifs pour la chirurgie à coeur battant (Cardiolock et Gyrolock, 2005-2012) * Asservissement visuel pour la robotique médicale (collaboration avec l'université de Tohoku soutenue par le CNRS et le JST) [https://lsiit-cnrs.unistra.fr/sendai-strasbourg/] (2007-2012) * Commande des systèmes d'enroulement de bandes flexibles (2000-2002) * Identification et commande des machines asynchrones (moteurs électriques à induction) ==Outils développés== * [http://eavr.u-strasbg.fr/~laroche/flexrob/ Modèle d'un bras manipulateur flexible] réalisé sous Maple avec DynaFlex * [http://eavr.u-strasbg.fr/~laroche/camera/ Modèles de la mesure de position par caméra] tenant compte des effets dynamiques * [[Planar cable robot with non straight cables]] =Publications= ==Publications scientifiques== * [https://icube-publis.unistra.fr/?author=Laroche&team=8+23#hideMenu Lien vers le site] ==Pédagogie universitaire (retours d'expérience sur des innovations pédagogiques)== * A. Weber, M. Caublot, E. Laroche, ''Modules de formation aux MTU et scénario hybride pour accompagner les L1 Sciences pour la Santé'', MoodleMoot, Troyes, 5-7 juillet 2023 * E. Laroche, ''Développement d'un module en automatique et son utilisation dans un enseignement de licence'', Colloque HILISIT, Marseille, 25-26 mai 2023. [https://drive.google.com/file/d/1LtlXRnDarjPS7QXsLgZtRYBpWsePacV9/view?usp=sharing Lien] * E. Laroche, ''Accompagner les étudiants dans le développement de leurs méthodes de travail - l’expérience de la Licence Sciences pour la Santé de Strasbourg'', [https://sfar.org/evenement/sfar-le-congres-2021/ SFAR le congrès], septembre 2021 * E. Laroche, ''Une expérience d'utilisation d'un tutoriel en ligne pour étoffer son enseignement'', [https://rpn.sciencesconf.org Colloque ''Enseigner et apprendre à l'université avec les ressources pédagogiques numériques''], Strasbourg, 24-25 Nov. 2020 * E. Laroche, C. Sauter, ''Comment la mise en place d’un enseignement transversal a contribué à l’évolution de la posture d’un enseignant'', [https://idip.unistra.fr/wp-content/uploads/2019/12/Cahiers-de-lIdip-HS-AIPU-2019.pdf Actes des Journées AIPU France], p. 100-105, 2019 * E. Laroche, ''[https://seafile.unistra.fr/f/4eb3d160fe244f869db5/ Refonte des MTU à la faculté de physique et ingénierie]'', J'IDIP, 2018 * E. Laroche, S. Zingaretti, S. Vonie, ''Classe renversée et évaluation par les pairs : un retour d’expérience'', [https://drive.google.com/file/d/0B9il8y4PowIDZWFybjU4V2VqMG8/view Actes du 29ème Congrès de l'AIPU], p. 26-27, Lausanne, 6-9 juin 2016 =Autres pages= * [http://www.physique-ingenierie.unistra.fr/spip.php?article71 Ma page sur le site de la Faculté de physique et ingénierie] * [http://scholar.google.com/citations?user=sLoa3QMAAAAJ&hl=fr Google scholar] * [http://orcid.org/0000-0002-0607-6861 ORCID] * [https://www.researchgate.net/profile/Edouard_Laroche Research gate] * [https://www.linkedin.com/profile/view?id=62536172 LinkedIn] * [http://www.viadeo.com/profile/0021oyh4dv6ed6r3 Viadeo] * [http://www.theses.fr/168812339 theses.fr] d35fe634b0f4c67491a80dde0bd8fc4a2a27f7b0 499 498 2023-07-04T17:14:59Z Laroche 8 /* Télécom-Physique-Strasbourg */ wikitext text/x-wiki [[Image:Edouard2019z2.jpeg|right|150px]] '''Professeur des Universités en automatique (section CNU 61)''' Thématiques : commande robuste, modélisation et identification, commande des robots, systèmes flexibles, commande des systèmes électriques =Contact= ICube - AVR<br /> Bd S. Brant, BP 10413, F-67412 Illkirch cedex<br /> Tel: +33 3 68 85 44 68 <br /> [mailto:laroche@unistra.fr laroche@unistra.fr]<br /> [[Sujets_de_stages|Stages proposés]]<br /> [[Sujets_de_thèses|Sujets de thèse de doctorat proposés]] =Parcours= *Né en 1971 à Paris. *Ingénieur de l'[https://ensem.univ-lorraine.fr École Nationale Supérieure d'Électricité et de Mécanique de Nancy] et titulaire du DEA PROTEE en 1994<br /> *Ancien élève de l'[https://ens-paris-saclay.fr ENS de Cachan/Paris Saclay], Agrégé de génie électrique en 1995, titulaire du DEA de didactique des sciences et techniques (1996)<br /> *Docteur de l'ENS de Cachan (2000). Titre de la [http://www.theses.fr/2000DENS0012 thèse] : ''Méthodologies multimodèles pour l’identification et la commande robuste de la machine asynchrone'' dirigée par [http://www.satie.ens-cachan.fr/version-francaise/les-membres/chercheurs-et-enseignants-chercheurs/chercheurs-pole-siame/abou-kandil-hisham-214839.kjsp?RH=1371131439750 H. Abou-Kandil] et J.P. Louis. <br /> *Maître de conférences à l'Université Louis Pasteur de Strasbourg de 2000 à 2008 <br /> *Habilité à dirigé des recherches en 2007. Titre de l'HDR : [http://eavr.u-strasbg.fr/~laroche/hdr/HDR-EL.pdf ''Identification et Commande Robuste de Systèmes Electromécaniques'' ]. Garant: [[Michel de Mathelin personal web page|M. de Mathelin]], rapporteurs: [http://www.cran.univ-lorraine.fr/detailindividupublic.php?appel=annuaire&codetheme=&codeindividu=00186&codelangue=FR A. Richard], [http://homepages.laas.fr/arzelier/ D. Arzelier] et [https://www.researchgate.net/profile/Said_Ahzi S. Ahzi] <br /> *Professeur des Universités à l'[http://www.unistra.fr/ Université de Strasbourg] depuis 2008 <br /> =Responsabilités= == Actuelles == * Chargé de mission Qualité de formations auprès de la vice-présidente Formation et parcours de réussite depuis 2021 * Directeur adjoint de la [http://www.physique-ingenierie.unistra.fr Faculté de physique et ingénierie] depuis 2016 * Référent "[https://evaluation-formation.unistra.fr qualité des formations]" de la faculté de physique et ingénierie depuis 2012 * Membre élu du conseil du laboratoire ICube * Responsable du développement d'un module pour le [https://www.unisciel.fr/2021/04/15/presentation-du-projet-hilisit/ projet HILISIT] == Antérieures == * Organisation de conférences: ** [https://cdc2019.ieeecss.org CDC 2019] (1600 participants) : responsable de l'organisation locale ** [http://www.ifac2017.org/ IFAC World Congress 2017] (3000 participants) : responsable des inscriptions (avec [http://www.supelec.fr/360_p_10005/sorin-olaru.html Sorin Olaru] de Centrale-Supélec) ** [http://www.ecc14.eu/ ECC'14] (European Control Conférence, 600 participants) : responsable de l'organisation locale ** [https://jdjnmacs2013.sciencesconf.org/ JD-JN MACS 2013] (Journées doctorales et Nationales du GDR MACS) : responsable de l'organisation locale * Animateur du [[w3.onera.fr/mosar/|Groupe de Travail "Méthodes et Outils pour la Synthèse et l'Analyse en Robustesse"]] du [http://www.univ-valenciennes.fr/gdr-macs/node/4407 GDR MACS (Groupement de Recherche "Modélisation, Analyse et Conduite des Systèmes")] de 2007 à 2014 * Responsable de la licence professionnelle "Qualité et Maîtrise de l'Énergie Électrique" de 2004 à 2024 =Activité d'enseignements= Mes ressources pégagogiques sont disponibles sur la [https://moodle3.unistra.fr/ plateforme Moodle] (accès restreint) et sur http://eavr.u-strasbg.fr/~laroche/student/ (non maintenu). == [http://www.physique-ingenierie.unistra.fr/ Faculté de Physique et Ingénierie] == * [http://www.physique-ingenierie.unistra.fr/spip.php?article7 Licence Physique et Sciences pour l'Ingénieur] ** [https://moodle3.unistra.fr/course/view.php?id=1918 Méthodologies du travail universitaire] (responsable de l'UE) ** [https://moodle3.unistra.fr/course/view.php?id=1929 Projet Personnel et Professionnel] ** [https://moodle3.unistra.fr/course/view.php?id=9463 Automatique] (co-responsable de l'UE) * [http://www.physique-ingenierie.unistra.fr/spip.php?article10 Licence Professionnelle Efficacité Énergétique] ** Méthodologies du travail ** [https://moodle3.unistra.fr/course/view.php?id=2754 Préparation et valorisation de l'apprentissage] * [http://www.physique-ingenierie.unistra.fr/spip.php?rubrique21 Master PAIP] ** [http://www.physique-ingenierie.unistra.fr/spip.php?article103 Spécialité Mécatronique et Énergie] *** Gestion de l'Énergie *** [https://moodle3.unistra.fr/course/view.php?id=1933 Conversion électro-mécanique] *** [https://moodle3.unistra.fr/course/view.php?id=1932 Capteurs Industriels] * Master GI, PAIP et SGM ** [https://moodle3.unistra.fr/course/view.php?id=2765 Valorisation de stage] == [http://www.telecom-physique.fr/ Télécom-Physique-Strasbourg] == * [http://fip2i-alsace.u-strasbg.fr/ FIP] 1a : [https://moodle.unistra.fr/course/view.php?id=1324 Automatique continue] * TPS 2a : [https://moodle.unistra.fr/course/view.php?id=1320Ingénierie durable] == [https://www.unistra.fr/index.php?id=27885&tx_unistrarof_pi1%5Brof-program%5D=ME287&cHash=c3f37b922fa8d67f86a42207f338fb8b Licence Sciences pour la santé] == * [https://moodle3.unistra.fr/course/view.php?id=13930 Méthodologies du travail universitaire] (responsable de l'UE) =Activités de recherche= ==Commande robuste des robots flexibles== * Problématique développée depuis 2002 <br/> * Collaboration avec [http://www.lias-lab.fr/perso/guillaumemercere/ G. Mercère] (LIAS, Poitiers), [http://www.unilim.fr/pages_perso/olivier.prot/index.html O. Prot] (XLim, Limoges). Collègues associés : [http://eavr.u-strasbg.fr/~bara I. Bara], [[Page personnelle de Loic Cuvillon|L. Cuvillon]] et [[Page personnelle de Jacques Gangloff|J. Gangloff]] <br/> ===Problématiques=== * Modélisation et identification de modèles LPV (linéaires à paramètres variants) des manipulateurs séries présentant des flexibilités ** [http://icube-avr.unistra.fr/en/index.php/Identification_benchmark Benchmark sur l'identification d'un bras robotique avec mesure par vision (en anglais)] * Commande robuste permettant de garantir les performances sur un espace de travail * Identification et commande des robots parallèles à câbles ===Financements=== * Projet [https://hypnovr.icube.unistra.fr/index.php/Le_projet HypnoVR 2017] financé par la Région Grand-Est et le FEDER * Projet CNRS [http://newlsiit.u-strasbg.fr/idrac/index.php/Accueil PEPS IDRAC] (2010-2011) * Preciput-ANR de l'ULP (2009) ==Projets passés== * Commande de dispositifs de stabilisation actifs pour la chirurgie à coeur battant (Cardiolock et Gyrolock, 2005-2012) * Asservissement visuel pour la robotique médicale (collaboration avec l'université de Tohoku soutenue par le CNRS et le JST) [https://lsiit-cnrs.unistra.fr/sendai-strasbourg/] (2007-2012) * Commande des systèmes d'enroulement de bandes flexibles (2000-2002) * Identification et commande des machines asynchrones (moteurs électriques à induction) ==Outils développés== * [http://eavr.u-strasbg.fr/~laroche/flexrob/ Modèle d'un bras manipulateur flexible] réalisé sous Maple avec DynaFlex * [http://eavr.u-strasbg.fr/~laroche/camera/ Modèles de la mesure de position par caméra] tenant compte des effets dynamiques * [[Planar cable robot with non straight cables]] =Publications= ==Publications scientifiques== * [https://icube-publis.unistra.fr/?author=Laroche&team=8+23#hideMenu Lien vers le site] ==Pédagogie universitaire (retours d'expérience sur des innovations pédagogiques)== * A. Weber, M. Caublot, E. Laroche, ''Modules de formation aux MTU et scénario hybride pour accompagner les L1 Sciences pour la Santé'', MoodleMoot, Troyes, 5-7 juillet 2023 * E. Laroche, ''Développement d'un module en automatique et son utilisation dans un enseignement de licence'', Colloque HILISIT, Marseille, 25-26 mai 2023. [https://drive.google.com/file/d/1LtlXRnDarjPS7QXsLgZtRYBpWsePacV9/view?usp=sharing Lien] * E. Laroche, ''Accompagner les étudiants dans le développement de leurs méthodes de travail - l’expérience de la Licence Sciences pour la Santé de Strasbourg'', [https://sfar.org/evenement/sfar-le-congres-2021/ SFAR le congrès], septembre 2021 * E. Laroche, ''Une expérience d'utilisation d'un tutoriel en ligne pour étoffer son enseignement'', [https://rpn.sciencesconf.org Colloque ''Enseigner et apprendre à l'université avec les ressources pédagogiques numériques''], Strasbourg, 24-25 Nov. 2020 * E. Laroche, C. Sauter, ''Comment la mise en place d’un enseignement transversal a contribué à l’évolution de la posture d’un enseignant'', [https://idip.unistra.fr/wp-content/uploads/2019/12/Cahiers-de-lIdip-HS-AIPU-2019.pdf Actes des Journées AIPU France], p. 100-105, 2019 * E. Laroche, ''[https://seafile.unistra.fr/f/4eb3d160fe244f869db5/ Refonte des MTU à la faculté de physique et ingénierie]'', J'IDIP, 2018 * E. Laroche, S. Zingaretti, S. Vonie, ''Classe renversée et évaluation par les pairs : un retour d’expérience'', [https://drive.google.com/file/d/0B9il8y4PowIDZWFybjU4V2VqMG8/view Actes du 29ème Congrès de l'AIPU], p. 26-27, Lausanne, 6-9 juin 2016 =Autres pages= * [http://www.physique-ingenierie.unistra.fr/spip.php?article71 Ma page sur le site de la Faculté de physique et ingénierie] * [http://scholar.google.com/citations?user=sLoa3QMAAAAJ&hl=fr Google scholar] * [http://orcid.org/0000-0002-0607-6861 ORCID] * [https://www.researchgate.net/profile/Edouard_Laroche Research gate] * [https://www.linkedin.com/profile/view?id=62536172 LinkedIn] * [http://www.viadeo.com/profile/0021oyh4dv6ed6r3 Viadeo] * [http://www.theses.fr/168812339 theses.fr] 8748928b5430d86483939bb9e3dfa6f6e84afba1 500 499 2023-07-04T17:15:54Z Laroche 8 /* Licence Sciences pour la santé */ wikitext text/x-wiki [[Image:Edouard2019z2.jpeg|right|150px]] '''Professeur des Universités en automatique (section CNU 61)''' Thématiques : commande robuste, modélisation et identification, commande des robots, systèmes flexibles, commande des systèmes électriques =Contact= ICube - AVR<br /> Bd S. Brant, BP 10413, F-67412 Illkirch cedex<br /> Tel: +33 3 68 85 44 68 <br /> [mailto:laroche@unistra.fr laroche@unistra.fr]<br /> [[Sujets_de_stages|Stages proposés]]<br /> [[Sujets_de_thèses|Sujets de thèse de doctorat proposés]] =Parcours= *Né en 1971 à Paris. *Ingénieur de l'[https://ensem.univ-lorraine.fr École Nationale Supérieure d'Électricité et de Mécanique de Nancy] et titulaire du DEA PROTEE en 1994<br /> *Ancien élève de l'[https://ens-paris-saclay.fr ENS de Cachan/Paris Saclay], Agrégé de génie électrique en 1995, titulaire du DEA de didactique des sciences et techniques (1996)<br /> *Docteur de l'ENS de Cachan (2000). Titre de la [http://www.theses.fr/2000DENS0012 thèse] : ''Méthodologies multimodèles pour l’identification et la commande robuste de la machine asynchrone'' dirigée par [http://www.satie.ens-cachan.fr/version-francaise/les-membres/chercheurs-et-enseignants-chercheurs/chercheurs-pole-siame/abou-kandil-hisham-214839.kjsp?RH=1371131439750 H. Abou-Kandil] et J.P. Louis. <br /> *Maître de conférences à l'Université Louis Pasteur de Strasbourg de 2000 à 2008 <br /> *Habilité à dirigé des recherches en 2007. Titre de l'HDR : [http://eavr.u-strasbg.fr/~laroche/hdr/HDR-EL.pdf ''Identification et Commande Robuste de Systèmes Electromécaniques'' ]. Garant: [[Michel de Mathelin personal web page|M. de Mathelin]], rapporteurs: [http://www.cran.univ-lorraine.fr/detailindividupublic.php?appel=annuaire&codetheme=&codeindividu=00186&codelangue=FR A. Richard], [http://homepages.laas.fr/arzelier/ D. Arzelier] et [https://www.researchgate.net/profile/Said_Ahzi S. Ahzi] <br /> *Professeur des Universités à l'[http://www.unistra.fr/ Université de Strasbourg] depuis 2008 <br /> =Responsabilités= == Actuelles == * Chargé de mission Qualité de formations auprès de la vice-présidente Formation et parcours de réussite depuis 2021 * Directeur adjoint de la [http://www.physique-ingenierie.unistra.fr Faculté de physique et ingénierie] depuis 2016 * Référent "[https://evaluation-formation.unistra.fr qualité des formations]" de la faculté de physique et ingénierie depuis 2012 * Membre élu du conseil du laboratoire ICube * Responsable du développement d'un module pour le [https://www.unisciel.fr/2021/04/15/presentation-du-projet-hilisit/ projet HILISIT] == Antérieures == * Organisation de conférences: ** [https://cdc2019.ieeecss.org CDC 2019] (1600 participants) : responsable de l'organisation locale ** [http://www.ifac2017.org/ IFAC World Congress 2017] (3000 participants) : responsable des inscriptions (avec [http://www.supelec.fr/360_p_10005/sorin-olaru.html Sorin Olaru] de Centrale-Supélec) ** [http://www.ecc14.eu/ ECC'14] (European Control Conférence, 600 participants) : responsable de l'organisation locale ** [https://jdjnmacs2013.sciencesconf.org/ JD-JN MACS 2013] (Journées doctorales et Nationales du GDR MACS) : responsable de l'organisation locale * Animateur du [[w3.onera.fr/mosar/|Groupe de Travail "Méthodes et Outils pour la Synthèse et l'Analyse en Robustesse"]] du [http://www.univ-valenciennes.fr/gdr-macs/node/4407 GDR MACS (Groupement de Recherche "Modélisation, Analyse et Conduite des Systèmes")] de 2007 à 2014 * Responsable de la licence professionnelle "Qualité et Maîtrise de l'Énergie Électrique" de 2004 à 2024 =Activité d'enseignements= Mes ressources pégagogiques sont disponibles sur la [https://moodle3.unistra.fr/ plateforme Moodle] (accès restreint) et sur http://eavr.u-strasbg.fr/~laroche/student/ (non maintenu). == [http://www.physique-ingenierie.unistra.fr/ Faculté de Physique et Ingénierie] == * [http://www.physique-ingenierie.unistra.fr/spip.php?article7 Licence Physique et Sciences pour l'Ingénieur] ** [https://moodle3.unistra.fr/course/view.php?id=1918 Méthodologies du travail universitaire] (responsable de l'UE) ** [https://moodle3.unistra.fr/course/view.php?id=1929 Projet Personnel et Professionnel] ** [https://moodle3.unistra.fr/course/view.php?id=9463 Automatique] (co-responsable de l'UE) * [http://www.physique-ingenierie.unistra.fr/spip.php?article10 Licence Professionnelle Efficacité Énergétique] ** Méthodologies du travail ** [https://moodle3.unistra.fr/course/view.php?id=2754 Préparation et valorisation de l'apprentissage] * [http://www.physique-ingenierie.unistra.fr/spip.php?rubrique21 Master PAIP] ** [http://www.physique-ingenierie.unistra.fr/spip.php?article103 Spécialité Mécatronique et Énergie] *** Gestion de l'Énergie *** [https://moodle3.unistra.fr/course/view.php?id=1933 Conversion électro-mécanique] *** [https://moodle3.unistra.fr/course/view.php?id=1932 Capteurs Industriels] * Master GI, PAIP et SGM ** [https://moodle3.unistra.fr/course/view.php?id=2765 Valorisation de stage] == [http://www.telecom-physique.fr/ Télécom-Physique-Strasbourg] == * [http://fip2i-alsace.u-strasbg.fr/ FIP] 1a : [https://moodle.unistra.fr/course/view.php?id=1324 Automatique continue] * TPS 2a : [https://moodle.unistra.fr/course/view.php?id=1320Ingénierie durable] == [https://www.unistra.fr/index.php?id=27885&tx_unistrarof_pi1%5Brof-program%5D=ME287&cHash=c3f37b922fa8d67f86a42207f338fb8b Licence Sciences pour la santé] == * [https://moodle.unistra.fr/course/view.php?id=3087 Méthodologies du travail universitaire] (responsable de l'UE) =Activités de recherche= ==Commande robuste des robots flexibles== * Problématique développée depuis 2002 <br/> * Collaboration avec [http://www.lias-lab.fr/perso/guillaumemercere/ G. Mercère] (LIAS, Poitiers), [http://www.unilim.fr/pages_perso/olivier.prot/index.html O. Prot] (XLim, Limoges). Collègues associés : [http://eavr.u-strasbg.fr/~bara I. Bara], [[Page personnelle de Loic Cuvillon|L. Cuvillon]] et [[Page personnelle de Jacques Gangloff|J. Gangloff]] <br/> ===Problématiques=== * Modélisation et identification de modèles LPV (linéaires à paramètres variants) des manipulateurs séries présentant des flexibilités ** [http://icube-avr.unistra.fr/en/index.php/Identification_benchmark Benchmark sur l'identification d'un bras robotique avec mesure par vision (en anglais)] * Commande robuste permettant de garantir les performances sur un espace de travail * Identification et commande des robots parallèles à câbles ===Financements=== * Projet [https://hypnovr.icube.unistra.fr/index.php/Le_projet HypnoVR 2017] financé par la Région Grand-Est et le FEDER * Projet CNRS [http://newlsiit.u-strasbg.fr/idrac/index.php/Accueil PEPS IDRAC] (2010-2011) * Preciput-ANR de l'ULP (2009) ==Projets passés== * Commande de dispositifs de stabilisation actifs pour la chirurgie à coeur battant (Cardiolock et Gyrolock, 2005-2012) * Asservissement visuel pour la robotique médicale (collaboration avec l'université de Tohoku soutenue par le CNRS et le JST) [https://lsiit-cnrs.unistra.fr/sendai-strasbourg/] (2007-2012) * Commande des systèmes d'enroulement de bandes flexibles (2000-2002) * Identification et commande des machines asynchrones (moteurs électriques à induction) ==Outils développés== * [http://eavr.u-strasbg.fr/~laroche/flexrob/ Modèle d'un bras manipulateur flexible] réalisé sous Maple avec DynaFlex * [http://eavr.u-strasbg.fr/~laroche/camera/ Modèles de la mesure de position par caméra] tenant compte des effets dynamiques * [[Planar cable robot with non straight cables]] =Publications= ==Publications scientifiques== * [https://icube-publis.unistra.fr/?author=Laroche&team=8+23#hideMenu Lien vers le site] ==Pédagogie universitaire (retours d'expérience sur des innovations pédagogiques)== * A. Weber, M. Caublot, E. Laroche, ''Modules de formation aux MTU et scénario hybride pour accompagner les L1 Sciences pour la Santé'', MoodleMoot, Troyes, 5-7 juillet 2023 * E. Laroche, ''Développement d'un module en automatique et son utilisation dans un enseignement de licence'', Colloque HILISIT, Marseille, 25-26 mai 2023. [https://drive.google.com/file/d/1LtlXRnDarjPS7QXsLgZtRYBpWsePacV9/view?usp=sharing Lien] * E. Laroche, ''Accompagner les étudiants dans le développement de leurs méthodes de travail - l’expérience de la Licence Sciences pour la Santé de Strasbourg'', [https://sfar.org/evenement/sfar-le-congres-2021/ SFAR le congrès], septembre 2021 * E. Laroche, ''Une expérience d'utilisation d'un tutoriel en ligne pour étoffer son enseignement'', [https://rpn.sciencesconf.org Colloque ''Enseigner et apprendre à l'université avec les ressources pédagogiques numériques''], Strasbourg, 24-25 Nov. 2020 * E. Laroche, C. Sauter, ''Comment la mise en place d’un enseignement transversal a contribué à l’évolution de la posture d’un enseignant'', [https://idip.unistra.fr/wp-content/uploads/2019/12/Cahiers-de-lIdip-HS-AIPU-2019.pdf Actes des Journées AIPU France], p. 100-105, 2019 * E. Laroche, ''[https://seafile.unistra.fr/f/4eb3d160fe244f869db5/ Refonte des MTU à la faculté de physique et ingénierie]'', J'IDIP, 2018 * E. Laroche, S. Zingaretti, S. Vonie, ''Classe renversée et évaluation par les pairs : un retour d’expérience'', [https://drive.google.com/file/d/0B9il8y4PowIDZWFybjU4V2VqMG8/view Actes du 29ème Congrès de l'AIPU], p. 26-27, Lausanne, 6-9 juin 2016 =Autres pages= * [http://www.physique-ingenierie.unistra.fr/spip.php?article71 Ma page sur le site de la Faculté de physique et ingénierie] * [http://scholar.google.com/citations?user=sLoa3QMAAAAJ&hl=fr Google scholar] * [http://orcid.org/0000-0002-0607-6861 ORCID] * [https://www.researchgate.net/profile/Edouard_Laroche Research gate] * [https://www.linkedin.com/profile/view?id=62536172 LinkedIn] * [http://www.viadeo.com/profile/0021oyh4dv6ed6r3 Viadeo] * [http://www.theses.fr/168812339 theses.fr] d2f03ce05d46706a193eeb48799d50474c70653f 501 500 2023-07-04T17:18:29Z Laroche 8 /* Faculté de Physique et Ingénierie */ wikitext text/x-wiki [[Image:Edouard2019z2.jpeg|right|150px]] '''Professeur des Universités en automatique (section CNU 61)''' Thématiques : commande robuste, modélisation et identification, commande des robots, systèmes flexibles, commande des systèmes électriques =Contact= ICube - AVR<br /> Bd S. Brant, BP 10413, F-67412 Illkirch cedex<br /> Tel: +33 3 68 85 44 68 <br /> [mailto:laroche@unistra.fr laroche@unistra.fr]<br /> [[Sujets_de_stages|Stages proposés]]<br /> [[Sujets_de_thèses|Sujets de thèse de doctorat proposés]] =Parcours= *Né en 1971 à Paris. *Ingénieur de l'[https://ensem.univ-lorraine.fr École Nationale Supérieure d'Électricité et de Mécanique de Nancy] et titulaire du DEA PROTEE en 1994<br /> *Ancien élève de l'[https://ens-paris-saclay.fr ENS de Cachan/Paris Saclay], Agrégé de génie électrique en 1995, titulaire du DEA de didactique des sciences et techniques (1996)<br /> *Docteur de l'ENS de Cachan (2000). Titre de la [http://www.theses.fr/2000DENS0012 thèse] : ''Méthodologies multimodèles pour l’identification et la commande robuste de la machine asynchrone'' dirigée par [http://www.satie.ens-cachan.fr/version-francaise/les-membres/chercheurs-et-enseignants-chercheurs/chercheurs-pole-siame/abou-kandil-hisham-214839.kjsp?RH=1371131439750 H. Abou-Kandil] et J.P. Louis. <br /> *Maître de conférences à l'Université Louis Pasteur de Strasbourg de 2000 à 2008 <br /> *Habilité à dirigé des recherches en 2007. Titre de l'HDR : [http://eavr.u-strasbg.fr/~laroche/hdr/HDR-EL.pdf ''Identification et Commande Robuste de Systèmes Electromécaniques'' ]. Garant: [[Michel de Mathelin personal web page|M. de Mathelin]], rapporteurs: [http://www.cran.univ-lorraine.fr/detailindividupublic.php?appel=annuaire&codetheme=&codeindividu=00186&codelangue=FR A. Richard], [http://homepages.laas.fr/arzelier/ D. Arzelier] et [https://www.researchgate.net/profile/Said_Ahzi S. Ahzi] <br /> *Professeur des Universités à l'[http://www.unistra.fr/ Université de Strasbourg] depuis 2008 <br /> =Responsabilités= == Actuelles == * Chargé de mission Qualité de formations auprès de la vice-présidente Formation et parcours de réussite depuis 2021 * Directeur adjoint de la [http://www.physique-ingenierie.unistra.fr Faculté de physique et ingénierie] depuis 2016 * Référent "[https://evaluation-formation.unistra.fr qualité des formations]" de la faculté de physique et ingénierie depuis 2012 * Membre élu du conseil du laboratoire ICube * Responsable du développement d'un module pour le [https://www.unisciel.fr/2021/04/15/presentation-du-projet-hilisit/ projet HILISIT] == Antérieures == * Organisation de conférences: ** [https://cdc2019.ieeecss.org CDC 2019] (1600 participants) : responsable de l'organisation locale ** [http://www.ifac2017.org/ IFAC World Congress 2017] (3000 participants) : responsable des inscriptions (avec [http://www.supelec.fr/360_p_10005/sorin-olaru.html Sorin Olaru] de Centrale-Supélec) ** [http://www.ecc14.eu/ ECC'14] (European Control Conférence, 600 participants) : responsable de l'organisation locale ** [https://jdjnmacs2013.sciencesconf.org/ JD-JN MACS 2013] (Journées doctorales et Nationales du GDR MACS) : responsable de l'organisation locale * Animateur du [[w3.onera.fr/mosar/|Groupe de Travail "Méthodes et Outils pour la Synthèse et l'Analyse en Robustesse"]] du [http://www.univ-valenciennes.fr/gdr-macs/node/4407 GDR MACS (Groupement de Recherche "Modélisation, Analyse et Conduite des Systèmes")] de 2007 à 2014 * Responsable de la licence professionnelle "Qualité et Maîtrise de l'Énergie Électrique" de 2004 à 2024 =Activité d'enseignements= Mes ressources pégagogiques sont disponibles sur la [https://moodle3.unistra.fr/ plateforme Moodle] (accès restreint) et sur http://eavr.u-strasbg.fr/~laroche/student/ (non maintenu). == [http://www.physique-ingenierie.unistra.fr/ Faculté de Physique et Ingénierie] == * [http://www.physique-ingenierie.unistra.fr/spip.php?article7 Licence Physique et Sciences pour l'Ingénieur] ** [https://moodle3.unistra.fr/course/view.php?id=1918 Méthodologies du travail universitaire] (responsable de l'UE) ** [https://moodle3.unistra.fr/course/view.php?id=1929 Projet Personnel et Professionnel] ** [https://moodle3.unistra.fr/course/view.php?id=9463 Automatique] (co-responsable de l'UE) * [http://www.physique-ingenierie.unistra.fr/spip.php?article10 Licence Professionnelle Efficacité Énergétique] ** Méthodologies du travail ** [https://moodle3.unistra.fr/course/view.php?id=2754 Préparation et valorisation de l'apprentissage] * [http://www.physique-ingenierie.unistra.fr/spip.php?rubrique21 Master PAIP] ** [http://www.physique-ingenierie.unistra.fr/spip.php?article103 Spécialité Mécatronique et Énergie] *** [https://moodle3.unistra.fr/course/view.php?id=1932 Capteurs Industriels] == [http://www.telecom-physique.fr/ Télécom-Physique-Strasbourg] == * [http://fip2i-alsace.u-strasbg.fr/ FIP] 1a : [https://moodle.unistra.fr/course/view.php?id=1324 Automatique continue] * TPS 2a : [https://moodle.unistra.fr/course/view.php?id=1320Ingénierie durable] == [https://www.unistra.fr/index.php?id=27885&tx_unistrarof_pi1%5Brof-program%5D=ME287&cHash=c3f37b922fa8d67f86a42207f338fb8b Licence Sciences pour la santé] == * [https://moodle.unistra.fr/course/view.php?id=3087 Méthodologies du travail universitaire] (responsable de l'UE) =Activités de recherche= ==Commande robuste des robots flexibles== * Problématique développée depuis 2002 <br/> * Collaboration avec [http://www.lias-lab.fr/perso/guillaumemercere/ G. Mercère] (LIAS, Poitiers), [http://www.unilim.fr/pages_perso/olivier.prot/index.html O. Prot] (XLim, Limoges). Collègues associés : [http://eavr.u-strasbg.fr/~bara I. Bara], [[Page personnelle de Loic Cuvillon|L. Cuvillon]] et [[Page personnelle de Jacques Gangloff|J. Gangloff]] <br/> ===Problématiques=== * Modélisation et identification de modèles LPV (linéaires à paramètres variants) des manipulateurs séries présentant des flexibilités ** [http://icube-avr.unistra.fr/en/index.php/Identification_benchmark Benchmark sur l'identification d'un bras robotique avec mesure par vision (en anglais)] * Commande robuste permettant de garantir les performances sur un espace de travail * Identification et commande des robots parallèles à câbles ===Financements=== * Projet [https://hypnovr.icube.unistra.fr/index.php/Le_projet HypnoVR 2017] financé par la Région Grand-Est et le FEDER * Projet CNRS [http://newlsiit.u-strasbg.fr/idrac/index.php/Accueil PEPS IDRAC] (2010-2011) * Preciput-ANR de l'ULP (2009) ==Projets passés== * Commande de dispositifs de stabilisation actifs pour la chirurgie à coeur battant (Cardiolock et Gyrolock, 2005-2012) * Asservissement visuel pour la robotique médicale (collaboration avec l'université de Tohoku soutenue par le CNRS et le JST) [https://lsiit-cnrs.unistra.fr/sendai-strasbourg/] (2007-2012) * Commande des systèmes d'enroulement de bandes flexibles (2000-2002) * Identification et commande des machines asynchrones (moteurs électriques à induction) ==Outils développés== * [http://eavr.u-strasbg.fr/~laroche/flexrob/ Modèle d'un bras manipulateur flexible] réalisé sous Maple avec DynaFlex * [http://eavr.u-strasbg.fr/~laroche/camera/ Modèles de la mesure de position par caméra] tenant compte des effets dynamiques * [[Planar cable robot with non straight cables]] =Publications= ==Publications scientifiques== * [https://icube-publis.unistra.fr/?author=Laroche&team=8+23#hideMenu Lien vers le site] ==Pédagogie universitaire (retours d'expérience sur des innovations pédagogiques)== * A. Weber, M. Caublot, E. Laroche, ''Modules de formation aux MTU et scénario hybride pour accompagner les L1 Sciences pour la Santé'', MoodleMoot, Troyes, 5-7 juillet 2023 * E. Laroche, ''Développement d'un module en automatique et son utilisation dans un enseignement de licence'', Colloque HILISIT, Marseille, 25-26 mai 2023. [https://drive.google.com/file/d/1LtlXRnDarjPS7QXsLgZtRYBpWsePacV9/view?usp=sharing Lien] * E. Laroche, ''Accompagner les étudiants dans le développement de leurs méthodes de travail - l’expérience de la Licence Sciences pour la Santé de Strasbourg'', [https://sfar.org/evenement/sfar-le-congres-2021/ SFAR le congrès], septembre 2021 * E. Laroche, ''Une expérience d'utilisation d'un tutoriel en ligne pour étoffer son enseignement'', [https://rpn.sciencesconf.org Colloque ''Enseigner et apprendre à l'université avec les ressources pédagogiques numériques''], Strasbourg, 24-25 Nov. 2020 * E. Laroche, C. Sauter, ''Comment la mise en place d’un enseignement transversal a contribué à l’évolution de la posture d’un enseignant'', [https://idip.unistra.fr/wp-content/uploads/2019/12/Cahiers-de-lIdip-HS-AIPU-2019.pdf Actes des Journées AIPU France], p. 100-105, 2019 * E. Laroche, ''[https://seafile.unistra.fr/f/4eb3d160fe244f869db5/ Refonte des MTU à la faculté de physique et ingénierie]'', J'IDIP, 2018 * E. Laroche, S. Zingaretti, S. Vonie, ''Classe renversée et évaluation par les pairs : un retour d’expérience'', [https://drive.google.com/file/d/0B9il8y4PowIDZWFybjU4V2VqMG8/view Actes du 29ème Congrès de l'AIPU], p. 26-27, Lausanne, 6-9 juin 2016 =Autres pages= * [http://www.physique-ingenierie.unistra.fr/spip.php?article71 Ma page sur le site de la Faculté de physique et ingénierie] * [http://scholar.google.com/citations?user=sLoa3QMAAAAJ&hl=fr Google scholar] * [http://orcid.org/0000-0002-0607-6861 ORCID] * [https://www.researchgate.net/profile/Edouard_Laroche Research gate] * [https://www.linkedin.com/profile/view?id=62536172 LinkedIn] * [http://www.viadeo.com/profile/0021oyh4dv6ed6r3 Viadeo] * [http://www.theses.fr/168812339 theses.fr] 49bba295b5f63088f8c8b768f33d07530a66de25 502 501 2023-07-04T17:22:54Z Laroche 8 /* Faculté de Physique et Ingénierie */ wikitext text/x-wiki [[Image:Edouard2019z2.jpeg|right|150px]] '''Professeur des Universités en automatique (section CNU 61)''' Thématiques : commande robuste, modélisation et identification, commande des robots, systèmes flexibles, commande des systèmes électriques =Contact= ICube - AVR<br /> Bd S. Brant, BP 10413, F-67412 Illkirch cedex<br /> Tel: +33 3 68 85 44 68 <br /> [mailto:laroche@unistra.fr laroche@unistra.fr]<br /> [[Sujets_de_stages|Stages proposés]]<br /> [[Sujets_de_thèses|Sujets de thèse de doctorat proposés]] =Parcours= *Né en 1971 à Paris. *Ingénieur de l'[https://ensem.univ-lorraine.fr École Nationale Supérieure d'Électricité et de Mécanique de Nancy] et titulaire du DEA PROTEE en 1994<br /> *Ancien élève de l'[https://ens-paris-saclay.fr ENS de Cachan/Paris Saclay], Agrégé de génie électrique en 1995, titulaire du DEA de didactique des sciences et techniques (1996)<br /> *Docteur de l'ENS de Cachan (2000). Titre de la [http://www.theses.fr/2000DENS0012 thèse] : ''Méthodologies multimodèles pour l’identification et la commande robuste de la machine asynchrone'' dirigée par [http://www.satie.ens-cachan.fr/version-francaise/les-membres/chercheurs-et-enseignants-chercheurs/chercheurs-pole-siame/abou-kandil-hisham-214839.kjsp?RH=1371131439750 H. Abou-Kandil] et J.P. Louis. <br /> *Maître de conférences à l'Université Louis Pasteur de Strasbourg de 2000 à 2008 <br /> *Habilité à dirigé des recherches en 2007. Titre de l'HDR : [http://eavr.u-strasbg.fr/~laroche/hdr/HDR-EL.pdf ''Identification et Commande Robuste de Systèmes Electromécaniques'' ]. Garant: [[Michel de Mathelin personal web page|M. de Mathelin]], rapporteurs: [http://www.cran.univ-lorraine.fr/detailindividupublic.php?appel=annuaire&codetheme=&codeindividu=00186&codelangue=FR A. Richard], [http://homepages.laas.fr/arzelier/ D. Arzelier] et [https://www.researchgate.net/profile/Said_Ahzi S. Ahzi] <br /> *Professeur des Universités à l'[http://www.unistra.fr/ Université de Strasbourg] depuis 2008 <br /> =Responsabilités= == Actuelles == * Chargé de mission Qualité de formations auprès de la vice-présidente Formation et parcours de réussite depuis 2021 * Directeur adjoint de la [http://www.physique-ingenierie.unistra.fr Faculté de physique et ingénierie] depuis 2016 * Référent "[https://evaluation-formation.unistra.fr qualité des formations]" de la faculté de physique et ingénierie depuis 2012 * Membre élu du conseil du laboratoire ICube * Responsable du développement d'un module pour le [https://www.unisciel.fr/2021/04/15/presentation-du-projet-hilisit/ projet HILISIT] == Antérieures == * Organisation de conférences: ** [https://cdc2019.ieeecss.org CDC 2019] (1600 participants) : responsable de l'organisation locale ** [http://www.ifac2017.org/ IFAC World Congress 2017] (3000 participants) : responsable des inscriptions (avec [http://www.supelec.fr/360_p_10005/sorin-olaru.html Sorin Olaru] de Centrale-Supélec) ** [http://www.ecc14.eu/ ECC'14] (European Control Conférence, 600 participants) : responsable de l'organisation locale ** [https://jdjnmacs2013.sciencesconf.org/ JD-JN MACS 2013] (Journées doctorales et Nationales du GDR MACS) : responsable de l'organisation locale * Animateur du [[w3.onera.fr/mosar/|Groupe de Travail "Méthodes et Outils pour la Synthèse et l'Analyse en Robustesse"]] du [http://www.univ-valenciennes.fr/gdr-macs/node/4407 GDR MACS (Groupement de Recherche "Modélisation, Analyse et Conduite des Systèmes")] de 2007 à 2014 * Responsable de la licence professionnelle "Qualité et Maîtrise de l'Énergie Électrique" de 2004 à 2024 =Activité d'enseignements= Mes ressources pégagogiques sont disponibles sur la [https://moodle3.unistra.fr/ plateforme Moodle] (accès restreint) et sur http://eavr.u-strasbg.fr/~laroche/student/ (non maintenu). == [http://www.physique-ingenierie.unistra.fr/ Faculté de Physique et Ingénierie] == * [https://physique-ingenierie.unistra.fr/formations/licences/licence-sciences-pour-lingenieur Licence Physique et Sciences pour l'Ingénieur] ** [https://moodle.unistra.fr/course/view.php?id=4656 Méthodologies du travail universitaire] ** [https://moodle.unistra.fr/course/view.php?id=4657 Projet Personnel et Professionnel] ** [https://moodle.unistra.fr/course/view.php?id=1315 Automatique] (co-responsable de l'UE) * [http://www.physique-ingenierie.unistra.fr/spip.php?article10 Licence Professionnelle Efficacité Énergétique] ** Méthodologies du travail ** [https://moodle.unistra.fr/course/view.php?id=1311 Préparation et valorisation de l'apprentissage] * [https://physique-ingenierie.unistra.fr/formations/masters/physique-appliquee-et-ingenierie-physique Master PAIP] ** [https://physique-ingenierie.unistra.fr/formations/masters/physique-appliquee-et-ingenierie-physique/mecatronique-et-energie-me Spécialité Mécatronique et Énergie] *** [https://moodle.unistra.fr/course/view.php?id=1310 Capteurs Industriels] == [http://www.telecom-physique.fr/ Télécom-Physique-Strasbourg] == * [http://fip2i-alsace.u-strasbg.fr/ FIP] 1a : [https://moodle.unistra.fr/course/view.php?id=1324 Automatique continue] * TPS 2a : [https://moodle.unistra.fr/course/view.php?id=1320Ingénierie durable] == [https://www.unistra.fr/index.php?id=27885&tx_unistrarof_pi1%5Brof-program%5D=ME287&cHash=c3f37b922fa8d67f86a42207f338fb8b Licence Sciences pour la santé] == * [https://moodle.unistra.fr/course/view.php?id=3087 Méthodologies du travail universitaire] (responsable de l'UE) =Activités de recherche= ==Commande robuste des robots flexibles== * Problématique développée depuis 2002 <br/> * Collaboration avec [http://www.lias-lab.fr/perso/guillaumemercere/ G. Mercère] (LIAS, Poitiers), [http://www.unilim.fr/pages_perso/olivier.prot/index.html O. Prot] (XLim, Limoges). Collègues associés : [http://eavr.u-strasbg.fr/~bara I. Bara], [[Page personnelle de Loic Cuvillon|L. Cuvillon]] et [[Page personnelle de Jacques Gangloff|J. Gangloff]] <br/> ===Problématiques=== * Modélisation et identification de modèles LPV (linéaires à paramètres variants) des manipulateurs séries présentant des flexibilités ** [http://icube-avr.unistra.fr/en/index.php/Identification_benchmark Benchmark sur l'identification d'un bras robotique avec mesure par vision (en anglais)] * Commande robuste permettant de garantir les performances sur un espace de travail * Identification et commande des robots parallèles à câbles ===Financements=== * Projet [https://hypnovr.icube.unistra.fr/index.php/Le_projet HypnoVR 2017] financé par la Région Grand-Est et le FEDER * Projet CNRS [http://newlsiit.u-strasbg.fr/idrac/index.php/Accueil PEPS IDRAC] (2010-2011) * Preciput-ANR de l'ULP (2009) ==Projets passés== * Commande de dispositifs de stabilisation actifs pour la chirurgie à coeur battant (Cardiolock et Gyrolock, 2005-2012) * Asservissement visuel pour la robotique médicale (collaboration avec l'université de Tohoku soutenue par le CNRS et le JST) [https://lsiit-cnrs.unistra.fr/sendai-strasbourg/] (2007-2012) * Commande des systèmes d'enroulement de bandes flexibles (2000-2002) * Identification et commande des machines asynchrones (moteurs électriques à induction) ==Outils développés== * [http://eavr.u-strasbg.fr/~laroche/flexrob/ Modèle d'un bras manipulateur flexible] réalisé sous Maple avec DynaFlex * [http://eavr.u-strasbg.fr/~laroche/camera/ Modèles de la mesure de position par caméra] tenant compte des effets dynamiques * [[Planar cable robot with non straight cables]] =Publications= ==Publications scientifiques== * [https://icube-publis.unistra.fr/?author=Laroche&team=8+23#hideMenu Lien vers le site] ==Pédagogie universitaire (retours d'expérience sur des innovations pédagogiques)== * A. Weber, M. Caublot, E. Laroche, ''Modules de formation aux MTU et scénario hybride pour accompagner les L1 Sciences pour la Santé'', MoodleMoot, Troyes, 5-7 juillet 2023 * E. Laroche, ''Développement d'un module en automatique et son utilisation dans un enseignement de licence'', Colloque HILISIT, Marseille, 25-26 mai 2023. [https://drive.google.com/file/d/1LtlXRnDarjPS7QXsLgZtRYBpWsePacV9/view?usp=sharing Lien] * E. Laroche, ''Accompagner les étudiants dans le développement de leurs méthodes de travail - l’expérience de la Licence Sciences pour la Santé de Strasbourg'', [https://sfar.org/evenement/sfar-le-congres-2021/ SFAR le congrès], septembre 2021 * E. Laroche, ''Une expérience d'utilisation d'un tutoriel en ligne pour étoffer son enseignement'', [https://rpn.sciencesconf.org Colloque ''Enseigner et apprendre à l'université avec les ressources pédagogiques numériques''], Strasbourg, 24-25 Nov. 2020 * E. Laroche, C. Sauter, ''Comment la mise en place d’un enseignement transversal a contribué à l’évolution de la posture d’un enseignant'', [https://idip.unistra.fr/wp-content/uploads/2019/12/Cahiers-de-lIdip-HS-AIPU-2019.pdf Actes des Journées AIPU France], p. 100-105, 2019 * E. Laroche, ''[https://seafile.unistra.fr/f/4eb3d160fe244f869db5/ Refonte des MTU à la faculté de physique et ingénierie]'', J'IDIP, 2018 * E. Laroche, S. Zingaretti, S. Vonie, ''Classe renversée et évaluation par les pairs : un retour d’expérience'', [https://drive.google.com/file/d/0B9il8y4PowIDZWFybjU4V2VqMG8/view Actes du 29ème Congrès de l'AIPU], p. 26-27, Lausanne, 6-9 juin 2016 =Autres pages= * [http://www.physique-ingenierie.unistra.fr/spip.php?article71 Ma page sur le site de la Faculté de physique et ingénierie] * [http://scholar.google.com/citations?user=sLoa3QMAAAAJ&hl=fr Google scholar] * [http://orcid.org/0000-0002-0607-6861 ORCID] * [https://www.researchgate.net/profile/Edouard_Laroche Research gate] * [https://www.linkedin.com/profile/view?id=62536172 LinkedIn] * [http://www.viadeo.com/profile/0021oyh4dv6ed6r3 Viadeo] * [http://www.theses.fr/168812339 theses.fr] 89886d509f5af5150af9d319f7b345201c85047c 6 119 474 2023-06-01T15:15:52Z Laroche 8 wikitext text/x-wiki pdf version of the Maple code b337af1406c2028591ee1871a0bc4a406dd523d6 0 120 475 2023-06-01T15:19:58Z Laroche 8 Created page with "=Assumed-mode-based dynamic model for cable robots with non-straight cables= This Maple script comes with the publication by J. Ayala Cuevas et al. about modeling of a planar..." wikitext text/x-wiki =Assumed-mode-based dynamic model for cable robots with non-straight cables= This Maple script comes with the publication by J. Ayala Cuevas et al. about modeling of a planar cable-driven parallel manipulator with a point platform. It derives step by step the model. [[File:CodeGeneratorCDPR-2.pdf|thumb|Maple script]] J. Ayala Cuevas, E. Laroche, O. Piccin. Assumed-mode-based dynamic model for cable robots with non-straight cables, ''Third International Conference on Cable-Driven Parallel Robots'', Mechan. Machine Science, Vol. 53, Québec, Canada, août 2017, doi:10.1007/978-3-319-61431-1_2 See also the later publications by R. Saadaoui et al.: * R. Saadaoui, E. Laroche, G. Bara, O. Piccin. H ∞ Control of a Planar 3-DOF Flexible-Cable Manipulator, ''10th IFAC Symposium on Robust Control Design ROCOND 2022'', Selective conference, Kyoto, Japan, août 2022. * R. Saadaoui, O. Piccin, H. Omran, G. Bara, E. Laroche. Control-Oriented Modeling of a Planar Cable-Driven Parallel Robot with Non-Straight Cables, ''10th European Nonlinear Dynamics Conferences ENOC22'', Lyon, France, juillet 2022. * R. Saadaoui, G. Bara, H. Omran, O. Piccin, E. Laroche. H ∞ Synthesis for a Planar Flexible Cable-Driven Robot, ''European Control Conference 2021'', Selective conference, pp. 710-715, Rotterdam, Netherlands, juillet 2021. 3f8f2f3e6a6bd45907968c1da6cd51bfffbb4dee 476 475 2023-06-01T15:21:51Z Laroche 8 /* Assumed-mode-based dynamic model for cable robots with non-straight cables */ wikitext text/x-wiki =Assumed-mode-based dynamic model for cable robots with non-straight cables= This Maple script comes with the publication by J. Ayala Cuevas et al. about modeling of a planar cable-driven parallel manipulator with a point platform. It derives step by step the model. Feel free to ask Edouard for a Maple version. [[File:CodeGeneratorCDPR-2.pdf|thumb|Maple script]] J. Ayala Cuevas, E. Laroche, O. Piccin. Assumed-mode-based dynamic model for cable robots with non-straight cables, ''Third International Conference on Cable-Driven Parallel Robots'', Mechan. Machine Science, Vol. 53, Québec, Canada, août 2017, doi:10.1007/978-3-319-61431-1_2 See also the later publications by R. Saadaoui et al.: * R. Saadaoui, E. Laroche, G. Bara, O. Piccin. H ∞ Control of a Planar 3-DOF Flexible-Cable Manipulator, ''10th IFAC Symposium on Robust Control Design ROCOND 2022'', Selective conference, Kyoto, Japan, août 2022. * R. Saadaoui, O. Piccin, H. Omran, G. Bara, E. Laroche. Control-Oriented Modeling of a Planar Cable-Driven Parallel Robot with Non-Straight Cables, ''10th European Nonlinear Dynamics Conferences ENOC22'', Lyon, France, juillet 2022. * R. Saadaoui, G. Bara, H. Omran, O. Piccin, E. Laroche. H ∞ Synthesis for a Planar Flexible Cable-Driven Robot, ''European Control Conference 2021'', Selective conference, pp. 710-715, Rotterdam, Netherlands, juillet 2021. 7bdecbd54c75bb5f9bdaa26dead7283e96b9de0b 6 121 485 2023-06-15T18:33:17Z L.cuvillon 9 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 0 28 486 265 2023-06-15T18:38:11Z Jacques.gangloff 11 wikitext text/x-wiki [[Image:Jacques.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA Chaine YouTube] * Twitter : [https://twitter.com/JacquesGangloff?lang=fr @JacquesGangloff] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Skype : jacques.gangloff * Téléphone : 03 67 10 61 79 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C132 * Adresse perso : région de Strasbourg =Curriculum Vitae= * 1969 : Année de naissance * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS). * 1994 : Intégration de l'ENS de Cachan. * 1995 : Agrégation de génie électrique. * 1996 : DEA de photonique et image. * 1999 : Thèse de doctorat. * 2000 : Maître de conférences. * 2004 : Habilitation à diriger les recherches. * 2005 : Professeur des universités. =Certificats d'authenticité= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats] <br style="clear: both" /> =Responsabilités= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Co-animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. == Responsabilités antérieures == * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours de commande prédictive ** Cours d'informatique temps-réel ** Cours de technologie des asservissements ** Cours de technologies vertes == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] =Recherche= ==Thématiques== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 38710830dd9f97a26555299de7381f49ee25d403 487 486 2023-06-15T18:48:17Z Jacques.gangloff 11 wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA Chaine YouTube] * Twitter : [https://twitter.com/JacquesGangloff?lang=fr @JacquesGangloff] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Skype : jacques.gangloff * Téléphone : 03 67 10 61 79 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C132 * Adresse perso : région de Strasbourg =Curriculum Vitae= * 1969 : Année de naissance * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS). * 1994 : Intégration de l'ENS de Cachan. * 1995 : Agrégation de génie électrique. * 1996 : DEA de photonique et image. * 1999 : Thèse de doctorat. * 2000 : Maître de conférences. * 2004 : Habilitation à diriger les recherches. * 2005 : Professeur des universités. =Certificats d'authenticité= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats] <br style="clear: both" /> =Responsabilités= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Co-animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. == Responsabilités antérieures == * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours de commande prédictive ** Cours d'informatique temps-réel ** Cours de technologie des asservissements ** Cours de technologies vertes == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] =Recherche= ==Thématiques== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> eb63a33490f4e5c0d000ac1cced54d968fd56adb 489 487 2023-06-15T19:03:50Z Jacques.gangloff 11 /* Contacts */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA Chaine YouTube] * Twitter : [https://twitter.com/JacquesGangloff?lang=fr @JacquesGangloff] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Skype : jacques.gangloff * Téléphone : 03 67 10 61 79 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C132 * Adresse perso : région d’Ingwiller =Curriculum Vitae= * 1969 : Année de naissance * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS). * 1994 : Intégration de l'ENS de Cachan. * 1995 : Agrégation de génie électrique. * 1996 : DEA de photonique et image. * 1999 : Thèse de doctorat. * 2000 : Maître de conférences. * 2004 : Habilitation à diriger les recherches. * 2005 : Professeur des universités. =Certificats d'authenticité= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats] <br style="clear: both" /> =Responsabilités= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Co-animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. == Responsabilités antérieures == * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours de commande prédictive ** Cours d'informatique temps-réel ** Cours de technologie des asservissements ** Cours de technologies vertes == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] =Recherche= ==Thématiques== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> a0c6242a56b136973d479cbede114b30f33a278f 490 489 2023-06-15T19:04:18Z Jacques.gangloff 11 /* Contacts */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA Chaine YouTube] * Twitter : [https://twitter.com/JacquesGangloff?lang=fr @JacquesGangloff] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Skype : jacques.gangloff * Téléphone : 03 67 10 61 79 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C132 * Adresse perso : pays de Hanau =Curriculum Vitae= * 1969 : Année de naissance * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS). * 1994 : Intégration de l'ENS de Cachan. * 1995 : Agrégation de génie électrique. * 1996 : DEA de photonique et image. * 1999 : Thèse de doctorat. * 2000 : Maître de conférences. * 2004 : Habilitation à diriger les recherches. * 2005 : Professeur des universités. =Certificats d'authenticité= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats] <br style="clear: both" /> =Responsabilités= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Co-animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. == Responsabilités antérieures == * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours de commande prédictive ** Cours d'informatique temps-réel ** Cours de technologie des asservissements ** Cours de technologies vertes == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] =Recherche= ==Thématiques== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 3e370bad6c927b25985e7960b1de282a57d60a15 491 490 2023-06-15T19:05:08Z Jacques.gangloff 11 /* Contacts */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA Chaine YouTube] * Twitter : [https://twitter.com/JacquesGangloff?lang=fr @JacquesGangloff] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone : 03 67 10 61 79 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C132 * Adresse perso : pays de Hanau =Curriculum Vitae= * 1969 : Année de naissance * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS). * 1994 : Intégration de l'ENS de Cachan. * 1995 : Agrégation de génie électrique. * 1996 : DEA de photonique et image. * 1999 : Thèse de doctorat. * 2000 : Maître de conférences. * 2004 : Habilitation à diriger les recherches. * 2005 : Professeur des universités. =Certificats d'authenticité= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats] <br style="clear: both" /> =Responsabilités= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Co-animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. == Responsabilités antérieures == * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours de commande prédictive ** Cours d'informatique temps-réel ** Cours de technologie des asservissements ** Cours de technologies vertes == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] =Recherche= ==Thématiques== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 2278579bb69da47b758bdc4f4af16653d3f14ae6 492 491 2023-06-15T19:06:21Z Jacques.gangloff 11 /* Contacts */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA Chaine YouTube] * Twitter : [https://twitter.com/JacquesGangloff?lang=fr @JacquesGangloff] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone : 03 67 10 61 79 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C132 * Adresse perso : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS). * 1994 : Intégration de l'ENS de Cachan. * 1995 : Agrégation de génie électrique. * 1996 : DEA de photonique et image. * 1999 : Thèse de doctorat. * 2000 : Maître de conférences. * 2004 : Habilitation à diriger les recherches. * 2005 : Professeur des universités. =Certificats d'authenticité= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats] <br style="clear: both" /> =Responsabilités= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Co-animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. == Responsabilités antérieures == * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours de commande prédictive ** Cours d'informatique temps-réel ** Cours de technologie des asservissements ** Cours de technologies vertes == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] =Recherche= ==Thématiques== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 5bc3149449dbf74c8a3841cc65e8e5cbf45c599f 503 492 2023-07-18T11:49:01Z Jacques.gangloff 11 /* Contacts */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA Chaine YouTube] * Twitter : [https://twitter.com/JacquesGangloff?lang=fr @JacquesGangloff] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone : 03 68 85 44 80 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C132 * Adresse perso : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS). * 1994 : Intégration de l'ENS de Cachan. * 1995 : Agrégation de génie électrique. * 1996 : DEA de photonique et image. * 1999 : Thèse de doctorat. * 2000 : Maître de conférences. * 2004 : Habilitation à diriger les recherches. * 2005 : Professeur des universités. =Certificats d'authenticité= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats] <br style="clear: both" /> =Responsabilités= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Co-animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. == Responsabilités antérieures == * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours de commande prédictive ** Cours d'informatique temps-réel ** Cours de technologie des asservissements ** Cours de technologies vertes == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] =Recherche= ==Thématiques== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 6c5c842016fd918881af63a03296fcd22824b405 6 122 488 2023-06-15T18:49:38Z Jacques.gangloff 11 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 0 42 493 162 2023-06-27T09:57:10Z L.cuvillon 9 /* Contact */ wikitext text/x-wiki [[Image:Cuvillon.jpg|thumb|right|200px|Loic Cuvillon]] =Contact= * Email1 : [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C127 * Adresse perso : 67000 Strasbourg =Curriculum Vitae= * 2002 : Diplôme d'ingénieur de l'ENSPS. * 2006 : Thèse de doctorat en robotique, Université de Strasbourg * 2007 : Maître de Conférences, Université de Strasbourg =Enseignement= Enseignement à [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], école d'ingénieur. * Robotique * Automatique * [[Systèmes_temps-réel_et_systèmes_embarqués_(EII)|Informatique temps-réel]] * [[Programmation_C|Programmation C]] =Recherche= ==Thématiques== * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques ==Publications== ===Publications téléchargeables=== * [[Media:these_cuvillon.pdf|Thèse (2006)]] ===Liste des publications=== * [[Media:publications.pdf|Publications (pdf))]] <iframe key="papr" path="?author=cuvillon&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous#hideMenu"/> 404d1c8396a2ec228965820b50ef354230480561 494 493 2023-06-27T09:58:35Z L.cuvillon 9 /* Contact */ wikitext text/x-wiki [[Image:Cuvillon.jpg|thumb|right|200px|Loic Cuvillon]] =Contact= * Email : [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] * Phone : +33 3 68 85 44 71 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C127 * Adresse perso : 67000 Strasbourg =Curriculum Vitae= * 2002 : Diplôme d'ingénieur de l'ENSPS. * 2006 : Thèse de doctorat en robotique, Université de Strasbourg * 2007 : Maître de Conférences, Université de Strasbourg =Enseignement= Enseignement à [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], école d'ingénieur. * Robotique * Automatique * [[Systèmes_temps-réel_et_systèmes_embarqués_(EII)|Informatique temps-réel]] * [[Programmation_C|Programmation C]] =Recherche= ==Thématiques== * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques ==Publications== ===Publications téléchargeables=== * [[Media:these_cuvillon.pdf|Thèse (2006)]] ===Liste des publications=== * [[Media:publications.pdf|Publications (pdf))]] <iframe key="papr" path="?author=cuvillon&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous#hideMenu"/> 494bf23df79d858644fdb35bad1ae7665e6354ab 0 28 504 503 2024-04-08T07:31:34Z Jacques.gangloff 11 /* Responsabilités */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA Chaine YouTube] * Twitter : [https://twitter.com/JacquesGangloff?lang=fr @JacquesGangloff] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone : 03 68 85 44 80 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C132 * Adresse perso : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS). * 1994 : Intégration de l'ENS de Cachan. * 1995 : Agrégation de génie électrique. * 1996 : DEA de photonique et image. * 1999 : Thèse de doctorat. * 2000 : Maître de conférences. * 2004 : Habilitation à diriger les recherches. * 2005 : Professeur des universités. =Certificats d'authenticité= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats] <br style="clear: both" /> =Responsabilités= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. == Responsabilités antérieures == * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours de commande prédictive ** Cours d'informatique temps-réel ** Cours de technologie des asservissements ** Cours de technologies vertes == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] =Recherche= ==Thématiques== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 197e79ac08d65cdf049a6340d0b5ac9baeb18dbf 507 504 2024-04-22T11:07:04Z Jacques.gangloff 11 /* Recherche */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA Chaine YouTube] * Twitter : [https://twitter.com/JacquesGangloff?lang=fr @JacquesGangloff] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone : 03 68 85 44 80 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C132 * Adresse perso : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS). * 1994 : Intégration de l'ENS de Cachan. * 1995 : Agrégation de génie électrique. * 1996 : DEA de photonique et image. * 1999 : Thèse de doctorat. * 2000 : Maître de conférences. * 2004 : Habilitation à diriger les recherches. * 2005 : Professeur des universités. =Certificats d'authenticité= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats] <br style="clear: both" /> =Responsabilités= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. == Responsabilités antérieures == * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours de commande prédictive ** Cours d'informatique temps-réel ** Cours de technologie des asservissements ** Cours de technologies vertes == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] =Recherche= <youtube>VyBSS48E4xI</youtube> ==Thématiques== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 72c9c8f11ab9e3b3859e783e3b0cb73a7f5dfb5b 508 507 2024-04-22T11:09:57Z Jacques.gangloff 11 /* Recherche */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA Chaine YouTube] * Twitter : [https://twitter.com/JacquesGangloff?lang=fr @JacquesGangloff] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone : 03 68 85 44 80 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C132 * Adresse perso : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS). * 1994 : Intégration de l'ENS de Cachan. * 1995 : Agrégation de génie électrique. * 1996 : DEA de photonique et image. * 1999 : Thèse de doctorat. * 2000 : Maître de conférences. * 2004 : Habilitation à diriger les recherches. * 2005 : Professeur des universités. =Certificats d'authenticité= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats] <br style="clear: both" /> =Responsabilités= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. == Responsabilités antérieures == * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours de commande prédictive ** Cours d'informatique temps-réel ** Cours de technologie des asservissements ** Cours de technologies vertes == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] =Recherche= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. <youtube>ThW7nigN9hQ</youtube> ==Thématiques== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> e29b17ce79625cdd7a93ef65df5c51d2ccc08d61 541 508 2024-07-16T06:37:45Z Jacques.gangloff 11 /* Responsabilités */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA Chaine YouTube] * Twitter : [https://twitter.com/JacquesGangloff?lang=fr @JacquesGangloff] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone : 03 68 85 44 80 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C132 * Adresse perso : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS). * 1994 : Intégration de l'ENS de Cachan. * 1995 : Agrégation de génie électrique. * 1996 : DEA de photonique et image. * 1999 : Thèse de doctorat. * 2000 : Maître de conférences. * 2004 : Habilitation à diriger les recherches. * 2005 : Professeur des universités. =Certificats d'authenticité= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats] <br style="clear: both" /> =Responsabilités= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. * Editeur associé du journal ''IEEE Robotics and Automation Letters'' == Responsabilités antérieures == * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours de commande prédictive ** Cours d'informatique temps-réel ** Cours de technologie des asservissements ** Cours de technologies vertes == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] =Recherche= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. <youtube>ThW7nigN9hQ</youtube> ==Thématiques== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 8a96ce3ec505d38102144c3cdaaf548117cb7af1 542 541 2024-07-16T06:38:09Z Jacques.gangloff 11 /* Responsabilités */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA Chaine YouTube] * Twitter : [https://twitter.com/JacquesGangloff?lang=fr @JacquesGangloff] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone : 03 68 85 44 80 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C132 * Adresse perso : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS). * 1994 : Intégration de l'ENS de Cachan. * 1995 : Agrégation de génie électrique. * 1996 : DEA de photonique et image. * 1999 : Thèse de doctorat. * 2000 : Maître de conférences. * 2004 : Habilitation à diriger les recherches. * 2005 : Professeur des universités. =Certificats d'authenticité= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats] <br style="clear: both" /> =Responsabilités= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. * Editeur associé du journal ''IEEE Robotics and Automation Letters'' depuis 2024. == Responsabilités antérieures == * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours de commande prédictive ** Cours d'informatique temps-réel ** Cours de technologie des asservissements ** Cours de technologies vertes == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] =Recherche= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. <youtube>ThW7nigN9hQ</youtube> ==Thématiques== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 0319922fc6ef5f034743bdbed863f2235b9a7bf2 543 542 2024-07-16T07:17:59Z Jacques.gangloff 11 wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA Chaine YouTube] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone / Phone : +33 (0)3 68 85 44 80 * Adresse pro / Prof. address : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau / Office : C132 * Adresse perso / Pers. address : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance / Date of birth * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS) / Engineering Degree from INSA Strasbourg * 1994 : Intégration de l'ENS de Cachan / Admission to ENS Cachan * 1995 : Agrégation de génie électrique / Agrégation in Electrical Engineering * 1996 : DEA de photonique et image / DEA in Photonics and Imaging * 1999 : Thèse de doctorat / PhD * 2000 : Maître de conférences / Associate Professor * 2004 : Habilitation à diriger les recherches / Habilitation to supervise research * 2005 : Professeur des universités / Full Professor =Certificats d'authenticité / Certificates of Authenticity= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. Starting from September 2020, all recommendation letters, thesis reports, and project reviews will be certified using a QR code that links to this section of my personal page. To verify the authenticity of the document, simply download the corresponding PDF by following the link below and enter the password located under the QR code of the document to be verified. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats] <br style="clear: both" /> =Responsabilités / Responsibilities= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. * Editeur associé du journal ''IEEE Robotics and Automation Letters'' depuis 2024. * Co-head for the [http://masteririv.u-strasbg.fr/index.php/Accueil IRIV Master’s program] since 2015. * Head for the [https://www.master-iriv.fr/m2/parcours-ar AR track] of the [http://master-iriv.u-strasbg.fr/ IRIV Master’s program] since 2005. * Member of the Board of Directors of Telecom Physique Strasbourg since 2010. * Member of the Advisory Board of Telecom Physique Strasbourg since 2010. * Leader of the “Complex Systems and Sparsity” theme of the RDH team since 2021. * Chairman of the Scientific Expert Committee of Télécom Physique Strasbourg since 2022. * Associate Editor of the journal ‘‘IEEE Robotics and Automation Letters’’ since 2024. == Responsabilités antérieures == * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement / Teaching= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] Lecturer at [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées / Subjects Taught== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours d'informatique temps-réel ** Cours sur les drones * In the second year: ** Digital Control Course ** Sustainable Engineering Course ** Robotics and Automation Lab Sessions * In the third year and Master 2: ** Robotics Course ** Vision-Based Control Course ** Real-Time Computing Course ** Drone Course == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] Videos of almost all my courses are available on [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA my YouTube channel]. They have been compiled into MOOCs on this page: [https://sites.google.com/view/rbotx/] =Recherche= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. Summary of the last 10 years of my research guided by the principle of frugality. I made this presentation at INRIA Rennes in February 2024 during a seminar organized on the sidelines of Marco Tognon’s Habilitation defense. <youtube>ThW7nigN9hQ</youtube> ==Thématiques / Research Topics== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] * Vision-Based Control * Fast Visual Servoing * Predictive Control * Manipulation Robotics * Medical and Surgical Robotics * Compensation of Physiological Motion * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Cable-Driven Parallel Robotics] * [https://www.dextair.com Aerial Manipulation] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 6b00c61d8f10e70197e770d1e9dee4247a381004 544 543 2024-07-16T07:18:46Z Jacques.gangloff 11 /* Contacts */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA YouTube] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone / Phone : +33 (0)3 68 85 44 80 * Adresse pro / Prof. address : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau / Office : C132 * Adresse perso / Pers. address : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance / Date of birth * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS) / Engineering Degree from INSA Strasbourg * 1994 : Intégration de l'ENS de Cachan / Admission to ENS Cachan * 1995 : Agrégation de génie électrique / Agrégation in Electrical Engineering * 1996 : DEA de photonique et image / DEA in Photonics and Imaging * 1999 : Thèse de doctorat / PhD * 2000 : Maître de conférences / Associate Professor * 2004 : Habilitation à diriger les recherches / Habilitation to supervise research * 2005 : Professeur des universités / Full Professor =Certificats d'authenticité / Certificates of Authenticity= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. Starting from September 2020, all recommendation letters, thesis reports, and project reviews will be certified using a QR code that links to this section of my personal page. To verify the authenticity of the document, simply download the corresponding PDF by following the link below and enter the password located under the QR code of the document to be verified. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats] <br style="clear: both" /> =Responsabilités / Responsibilities= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. * Editeur associé du journal ''IEEE Robotics and Automation Letters'' depuis 2024. * Co-head for the [http://masteririv.u-strasbg.fr/index.php/Accueil IRIV Master’s program] since 2015. * Head for the [https://www.master-iriv.fr/m2/parcours-ar AR track] of the [http://master-iriv.u-strasbg.fr/ IRIV Master’s program] since 2005. * Member of the Board of Directors of Telecom Physique Strasbourg since 2010. * Member of the Advisory Board of Telecom Physique Strasbourg since 2010. * Leader of the “Complex Systems and Sparsity” theme of the RDH team since 2021. * Chairman of the Scientific Expert Committee of Télécom Physique Strasbourg since 2022. * Associate Editor of the journal ‘‘IEEE Robotics and Automation Letters’’ since 2024. == Responsabilités antérieures == * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement / Teaching= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] Lecturer at [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées / Subjects Taught== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours d'informatique temps-réel ** Cours sur les drones * In the second year: ** Digital Control Course ** Sustainable Engineering Course ** Robotics and Automation Lab Sessions * In the third year and Master 2: ** Robotics Course ** Vision-Based Control Course ** Real-Time Computing Course ** Drone Course == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] Videos of almost all my courses are available on [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA my YouTube channel]. They have been compiled into MOOCs on this page: [https://sites.google.com/view/rbotx/] =Recherche= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. Summary of the last 10 years of my research guided by the principle of frugality. I made this presentation at INRIA Rennes in February 2024 during a seminar organized on the sidelines of Marco Tognon’s Habilitation defense. <youtube>ThW7nigN9hQ</youtube> ==Thématiques / Research Topics== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] * Vision-Based Control * Fast Visual Servoing * Predictive Control * Manipulation Robotics * Medical and Surgical Robotics * Compensation of Physiological Motion * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Cable-Driven Parallel Robotics] * [https://www.dextair.com Aerial Manipulation] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 8d8051c1e8a289611166a37bf9576aea6c82c167 545 544 2024-07-16T07:19:22Z Jacques.gangloff 11 /* Curriculum Vitae */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA YouTube] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone / Phone : +33 (0)3 68 85 44 80 * Adresse pro / Prof. address : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau / Office : C132 * Adresse perso / Pers. address : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance / Date of birth * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS) / Engineering Degree from INSA Strasbourg * 1994 : Intégration de l'ENS de Cachan / Admission to ENS Cachan * 1995 : Agrégation de génie électrique / Agrégation in Electrical Engineering * 1996 : DEA de photonique et image / Master degree in Photonics and Imaging * 1999 : Thèse de doctorat / PhD * 2000 : Maître de conférences / Associate Professor * 2004 : Habilitation à diriger les recherches / Habilitation to supervise research * 2005 : Professeur des universités / Full Professor =Certificats d'authenticité / Certificates of Authenticity= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. Starting from September 2020, all recommendation letters, thesis reports, and project reviews will be certified using a QR code that links to this section of my personal page. To verify the authenticity of the document, simply download the corresponding PDF by following the link below and enter the password located under the QR code of the document to be verified. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats] <br style="clear: both" /> =Responsabilités / Responsibilities= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. * Editeur associé du journal ''IEEE Robotics and Automation Letters'' depuis 2024. * Co-head for the [http://masteririv.u-strasbg.fr/index.php/Accueil IRIV Master’s program] since 2015. * Head for the [https://www.master-iriv.fr/m2/parcours-ar AR track] of the [http://master-iriv.u-strasbg.fr/ IRIV Master’s program] since 2005. * Member of the Board of Directors of Telecom Physique Strasbourg since 2010. * Member of the Advisory Board of Telecom Physique Strasbourg since 2010. * Leader of the “Complex Systems and Sparsity” theme of the RDH team since 2021. * Chairman of the Scientific Expert Committee of Télécom Physique Strasbourg since 2022. * Associate Editor of the journal ‘‘IEEE Robotics and Automation Letters’’ since 2024. == Responsabilités antérieures == * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement / Teaching= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] Lecturer at [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées / Subjects Taught== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours d'informatique temps-réel ** Cours sur les drones * In the second year: ** Digital Control Course ** Sustainable Engineering Course ** Robotics and Automation Lab Sessions * In the third year and Master 2: ** Robotics Course ** Vision-Based Control Course ** Real-Time Computing Course ** Drone Course == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] Videos of almost all my courses are available on [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA my YouTube channel]. They have been compiled into MOOCs on this page: [https://sites.google.com/view/rbotx/] =Recherche= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. Summary of the last 10 years of my research guided by the principle of frugality. I made this presentation at INRIA Rennes in February 2024 during a seminar organized on the sidelines of Marco Tognon’s Habilitation defense. <youtube>ThW7nigN9hQ</youtube> ==Thématiques / Research Topics== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] * Vision-Based Control * Fast Visual Servoing * Predictive Control * Manipulation Robotics * Medical and Surgical Robotics * Compensation of Physiological Motion * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Cable-Driven Parallel Robotics] * [https://www.dextair.com Aerial Manipulation] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 7c9478d7912486e163bd6b578268b8655d952bba 546 545 2024-07-16T07:20:00Z Jacques.gangloff 11 /* Certificats d'authenticité / Certificates of Authenticity */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA YouTube] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone / Phone : +33 (0)3 68 85 44 80 * Adresse pro / Prof. address : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau / Office : C132 * Adresse perso / Pers. address : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance / Date of birth * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS) / Engineering Degree from INSA Strasbourg * 1994 : Intégration de l'ENS de Cachan / Admission to ENS Cachan * 1995 : Agrégation de génie électrique / Agrégation in Electrical Engineering * 1996 : DEA de photonique et image / Master degree in Photonics and Imaging * 1999 : Thèse de doctorat / PhD * 2000 : Maître de conférences / Associate Professor * 2004 : Habilitation à diriger les recherches / Habilitation to supervise research * 2005 : Professeur des universités / Full Professor =Certificats d'authenticité / Certificates of Authenticity= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. Starting from September 2020, all recommendation letters, thesis reports, and project reviews will be certified using a QR code that links to this section of my personal page. To verify the authenticity of the document, simply download the corresponding PDF by following the link below and enter the password located under the QR code of the document to be verified. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats / Access to certificates] <br style="clear: both" /> =Responsabilités / Responsibilities= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. * Editeur associé du journal ''IEEE Robotics and Automation Letters'' depuis 2024. * Co-head for the [http://masteririv.u-strasbg.fr/index.php/Accueil IRIV Master’s program] since 2015. * Head for the [https://www.master-iriv.fr/m2/parcours-ar AR track] of the [http://master-iriv.u-strasbg.fr/ IRIV Master’s program] since 2005. * Member of the Board of Directors of Telecom Physique Strasbourg since 2010. * Member of the Advisory Board of Telecom Physique Strasbourg since 2010. * Leader of the “Complex Systems and Sparsity” theme of the RDH team since 2021. * Chairman of the Scientific Expert Committee of Télécom Physique Strasbourg since 2022. * Associate Editor of the journal ‘‘IEEE Robotics and Automation Letters’’ since 2024. == Responsabilités antérieures == * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement / Teaching= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] Lecturer at [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées / Subjects Taught== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours d'informatique temps-réel ** Cours sur les drones * In the second year: ** Digital Control Course ** Sustainable Engineering Course ** Robotics and Automation Lab Sessions * In the third year and Master 2: ** Robotics Course ** Vision-Based Control Course ** Real-Time Computing Course ** Drone Course == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] Videos of almost all my courses are available on [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA my YouTube channel]. They have been compiled into MOOCs on this page: [https://sites.google.com/view/rbotx/] =Recherche= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. Summary of the last 10 years of my research guided by the principle of frugality. I made this presentation at INRIA Rennes in February 2024 during a seminar organized on the sidelines of Marco Tognon’s Habilitation defense. <youtube>ThW7nigN9hQ</youtube> ==Thématiques / Research Topics== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] * Vision-Based Control * Fast Visual Servoing * Predictive Control * Manipulation Robotics * Medical and Surgical Robotics * Compensation of Physiological Motion * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Cable-Driven Parallel Robotics] * [https://www.dextair.com Aerial Manipulation] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 26c02f76932df3447df0c03b152f7c2a7a7c0e9f 547 546 2024-07-16T07:20:25Z Jacques.gangloff 11 /* Certificats d'authenticité / Certificates of Authenticity */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA YouTube] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone / Phone : +33 (0)3 68 85 44 80 * Adresse pro / Prof. address : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau / Office : C132 * Adresse perso / Pers. address : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance / Date of birth * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS) / Engineering Degree from INSA Strasbourg * 1994 : Intégration de l'ENS de Cachan / Admission to ENS Cachan * 1995 : Agrégation de génie électrique / Agrégation in Electrical Engineering * 1996 : DEA de photonique et image / Master degree in Photonics and Imaging * 1999 : Thèse de doctorat / PhD * 2000 : Maître de conférences / Associate Professor * 2004 : Habilitation à diriger les recherches / Habilitation to supervise research * 2005 : Professeur des universités / Full Professor =Certificats d'authenticité / Certificates of Authenticity= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. Starting from September 2020, all recommendation letters, thesis reports, and project reviews will be certified using a QR code that links to this section of my personal page. To verify the authenticity of the document, simply download the corresponding PDF by following the link below and enter the password located under the QR code of the document to be verified. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat / Example]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats / Access to certificates] <br style="clear: both" /> =Responsabilités / Responsibilities= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. * Editeur associé du journal ''IEEE Robotics and Automation Letters'' depuis 2024. * Co-head for the [http://masteririv.u-strasbg.fr/index.php/Accueil IRIV Master’s program] since 2015. * Head for the [https://www.master-iriv.fr/m2/parcours-ar AR track] of the [http://master-iriv.u-strasbg.fr/ IRIV Master’s program] since 2005. * Member of the Board of Directors of Telecom Physique Strasbourg since 2010. * Member of the Advisory Board of Telecom Physique Strasbourg since 2010. * Leader of the “Complex Systems and Sparsity” theme of the RDH team since 2021. * Chairman of the Scientific Expert Committee of Télécom Physique Strasbourg since 2022. * Associate Editor of the journal ‘‘IEEE Robotics and Automation Letters’’ since 2024. == Responsabilités antérieures == * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement / Teaching= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] Lecturer at [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées / Subjects Taught== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours d'informatique temps-réel ** Cours sur les drones * In the second year: ** Digital Control Course ** Sustainable Engineering Course ** Robotics and Automation Lab Sessions * In the third year and Master 2: ** Robotics Course ** Vision-Based Control Course ** Real-Time Computing Course ** Drone Course == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] Videos of almost all my courses are available on [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA my YouTube channel]. They have been compiled into MOOCs on this page: [https://sites.google.com/view/rbotx/] =Recherche= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. Summary of the last 10 years of my research guided by the principle of frugality. I made this presentation at INRIA Rennes in February 2024 during a seminar organized on the sidelines of Marco Tognon’s Habilitation defense. <youtube>ThW7nigN9hQ</youtube> ==Thématiques / Research Topics== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] * Vision-Based Control * Fast Visual Servoing * Predictive Control * Manipulation Robotics * Medical and Surgical Robotics * Compensation of Physiological Motion * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Cable-Driven Parallel Robotics] * [https://www.dextair.com Aerial Manipulation] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 5cab02edef84a5896714a59e4c8e318218375719 548 547 2024-07-16T07:21:06Z Jacques.gangloff 11 /* Responsabilités / Responsibilities */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA YouTube] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone / Phone : +33 (0)3 68 85 44 80 * Adresse pro / Prof. address : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau / Office : C132 * Adresse perso / Pers. address : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance / Date of birth * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS) / Engineering Degree from INSA Strasbourg * 1994 : Intégration de l'ENS de Cachan / Admission to ENS Cachan * 1995 : Agrégation de génie électrique / Agrégation in Electrical Engineering * 1996 : DEA de photonique et image / Master degree in Photonics and Imaging * 1999 : Thèse de doctorat / PhD * 2000 : Maître de conférences / Associate Professor * 2004 : Habilitation à diriger les recherches / Habilitation to supervise research * 2005 : Professeur des universités / Full Professor =Certificats d'authenticité / Certificates of Authenticity= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. Starting from September 2020, all recommendation letters, thesis reports, and project reviews will be certified using a QR code that links to this section of my personal page. To verify the authenticity of the document, simply download the corresponding PDF by following the link below and enter the password located under the QR code of the document to be verified. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat / Example]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats / Access to certificates] <br style="clear: both" /> =Responsabilités / Responsibilities= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. * Editeur associé du journal ''IEEE Robotics and Automation Letters'' depuis 2024. * Co-head for the [http://masteririv.u-strasbg.fr/index.php/Accueil IRIV Master’s program] since 2015. * Head for the [https://www.master-iriv.fr/m2/parcours-ar AR track] of the [http://master-iriv.u-strasbg.fr/ IRIV Master’s program] since 2005. * Member of the Board of Directors of Telecom Physique Strasbourg since 2010. * Member of the Advisory Board of Telecom Physique Strasbourg since 2010. * Leader of the “Complex Systems and Sparsity” theme of the RDH team since 2021. * Chairman of the Scientific Expert Committee of Télécom Physique Strasbourg since 2022. * Associate Editor of the journal ‘‘IEEE Robotics and Automation Letters’’ since 2024. == Responsabilités antérieures == * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement / Teaching= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] Lecturer at [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées / Subjects Taught== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours d'informatique temps-réel ** Cours sur les drones * In the second year: ** Digital Control Course ** Sustainable Engineering Course ** Robotics and Automation Lab Sessions * In the third year and Master 2: ** Robotics Course ** Vision-Based Control Course ** Real-Time Computing Course ** Drone Course == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] Videos of almost all my courses are available on [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA my YouTube channel]. They have been compiled into MOOCs on this page: [https://sites.google.com/view/rbotx/] =Recherche= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. Summary of the last 10 years of my research guided by the principle of frugality. I made this presentation at INRIA Rennes in February 2024 during a seminar organized on the sidelines of Marco Tognon’s Habilitation defense. <youtube>ThW7nigN9hQ</youtube> ==Thématiques / Research Topics== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] * Vision-Based Control * Fast Visual Servoing * Predictive Control * Manipulation Robotics * Medical and Surgical Robotics * Compensation of Physiological Motion * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Cable-Driven Parallel Robotics] * [https://www.dextair.com Aerial Manipulation] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 3919eddfa67beef3bf14cad58e9e06fc89eeda9e 549 548 2024-07-16T07:21:51Z Jacques.gangloff 11 /* Matières enseignées / Subjects Taught */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA YouTube] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone / Phone : +33 (0)3 68 85 44 80 * Adresse pro / Prof. address : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau / Office : C132 * Adresse perso / Pers. address : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance / Date of birth * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS) / Engineering Degree from INSA Strasbourg * 1994 : Intégration de l'ENS de Cachan / Admission to ENS Cachan * 1995 : Agrégation de génie électrique / Agrégation in Electrical Engineering * 1996 : DEA de photonique et image / Master degree in Photonics and Imaging * 1999 : Thèse de doctorat / PhD * 2000 : Maître de conférences / Associate Professor * 2004 : Habilitation à diriger les recherches / Habilitation to supervise research * 2005 : Professeur des universités / Full Professor =Certificats d'authenticité / Certificates of Authenticity= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. Starting from September 2020, all recommendation letters, thesis reports, and project reviews will be certified using a QR code that links to this section of my personal page. To verify the authenticity of the document, simply download the corresponding PDF by following the link below and enter the password located under the QR code of the document to be verified. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat / Example]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats / Access to certificates] <br style="clear: both" /> =Responsabilités / Responsibilities= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. * Editeur associé du journal ''IEEE Robotics and Automation Letters'' depuis 2024. * Co-head for the [http://masteririv.u-strasbg.fr/index.php/Accueil IRIV Master’s program] since 2015. * Head for the [https://www.master-iriv.fr/m2/parcours-ar AR track] of the [http://master-iriv.u-strasbg.fr/ IRIV Master’s program] since 2005. * Member of the Board of Directors of Telecom Physique Strasbourg since 2010. * Member of the Advisory Board of Telecom Physique Strasbourg since 2010. * Leader of the “Complex Systems and Sparsity” theme of the RDH team since 2021. * Chairman of the Scientific Expert Committee of Télécom Physique Strasbourg since 2022. * Associate Editor of the journal ‘‘IEEE Robotics and Automation Letters’’ since 2024. == Responsabilités antérieures == * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement / Teaching= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] Lecturer at [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées / Subjects Taught== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours d'informatique temps-réel ** Cours sur les drones * In the second year: ** Digital Control Course ** Sustainable Engineering Course ** Robotics and Automation Lab Sessions * In the third year and Master 2: ** Robotics Course ** Vision-Based Control Course ** Real-Time Computing Course ** Drone Course == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] Videos of almost all my courses are available on [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA my YouTube channel]. They have been compiled into MOOCs on this page: [https://sites.google.com/view/rbotx/] =Recherche= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. Summary of the last 10 years of my research guided by the principle of frugality. I made this presentation at INRIA Rennes in February 2024 during a seminar organized on the sidelines of Marco Tognon’s Habilitation defense. <youtube>ThW7nigN9hQ</youtube> ==Thématiques / Research Topics== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] * Vision-Based Control * Fast Visual Servoing * Predictive Control * Manipulation Robotics * Medical and Surgical Robotics * Compensation of Physiological Motion * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Cable-Driven Parallel Robotics] * [https://www.dextair.com Aerial Manipulation] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 13ef3f178b34c8f04c7d206713b2167fd1cf8bbb 550 549 2024-07-16T07:22:21Z Jacques.gangloff 11 /* MOOC */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA YouTube] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone / Phone : +33 (0)3 68 85 44 80 * Adresse pro / Prof. address : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau / Office : C132 * Adresse perso / Pers. address : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance / Date of birth * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS) / Engineering Degree from INSA Strasbourg * 1994 : Intégration de l'ENS de Cachan / Admission to ENS Cachan * 1995 : Agrégation de génie électrique / Agrégation in Electrical Engineering * 1996 : DEA de photonique et image / Master degree in Photonics and Imaging * 1999 : Thèse de doctorat / PhD * 2000 : Maître de conférences / Associate Professor * 2004 : Habilitation à diriger les recherches / Habilitation to supervise research * 2005 : Professeur des universités / Full Professor =Certificats d'authenticité / Certificates of Authenticity= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. Starting from September 2020, all recommendation letters, thesis reports, and project reviews will be certified using a QR code that links to this section of my personal page. To verify the authenticity of the document, simply download the corresponding PDF by following the link below and enter the password located under the QR code of the document to be verified. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat / Example]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats / Access to certificates] <br style="clear: both" /> =Responsabilités / Responsibilities= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. * Editeur associé du journal ''IEEE Robotics and Automation Letters'' depuis 2024. * Co-head for the [http://masteririv.u-strasbg.fr/index.php/Accueil IRIV Master’s program] since 2015. * Head for the [https://www.master-iriv.fr/m2/parcours-ar AR track] of the [http://master-iriv.u-strasbg.fr/ IRIV Master’s program] since 2005. * Member of the Board of Directors of Telecom Physique Strasbourg since 2010. * Member of the Advisory Board of Telecom Physique Strasbourg since 2010. * Leader of the “Complex Systems and Sparsity” theme of the RDH team since 2021. * Chairman of the Scientific Expert Committee of Télécom Physique Strasbourg since 2022. * Associate Editor of the journal ‘‘IEEE Robotics and Automation Letters’’ since 2024. == Responsabilités antérieures == * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement / Teaching= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] Lecturer at [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées / Subjects Taught== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours d'informatique temps-réel ** Cours sur les drones * In the second year: ** Digital Control Course ** Sustainable Engineering Course ** Robotics and Automation Lab Sessions * In the third year and Master 2: ** Robotics Course ** Vision-Based Control Course ** Real-Time Computing Course ** Drone Course == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] Videos of almost all my courses are available on [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA my YouTube channel]. They have been compiled into MOOCs on this page: [https://sites.google.com/view/rbotx/] =Recherche= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. Summary of the last 10 years of my research guided by the principle of frugality. I made this presentation at INRIA Rennes in February 2024 during a seminar organized on the sidelines of Marco Tognon’s Habilitation defense. <youtube>ThW7nigN9hQ</youtube> ==Thématiques / Research Topics== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] * Vision-Based Control * Fast Visual Servoing * Predictive Control * Manipulation Robotics * Medical and Surgical Robotics * Compensation of Physiological Motion * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Cable-Driven Parallel Robotics] * [https://www.dextair.com Aerial Manipulation] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> fe3a72f336ae4cc306e6558f732023502b0f9613 551 550 2024-07-16T07:22:35Z Jacques.gangloff 11 /* Recherche */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA YouTube] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone / Phone : +33 (0)3 68 85 44 80 * Adresse pro / Prof. address : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau / Office : C132 * Adresse perso / Pers. address : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance / Date of birth * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS) / Engineering Degree from INSA Strasbourg * 1994 : Intégration de l'ENS de Cachan / Admission to ENS Cachan * 1995 : Agrégation de génie électrique / Agrégation in Electrical Engineering * 1996 : DEA de photonique et image / Master degree in Photonics and Imaging * 1999 : Thèse de doctorat / PhD * 2000 : Maître de conférences / Associate Professor * 2004 : Habilitation à diriger les recherches / Habilitation to supervise research * 2005 : Professeur des universités / Full Professor =Certificats d'authenticité / Certificates of Authenticity= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. Starting from September 2020, all recommendation letters, thesis reports, and project reviews will be certified using a QR code that links to this section of my personal page. To verify the authenticity of the document, simply download the corresponding PDF by following the link below and enter the password located under the QR code of the document to be verified. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat / Example]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats / Access to certificates] <br style="clear: both" /> =Responsabilités / Responsibilities= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. * Editeur associé du journal ''IEEE Robotics and Automation Letters'' depuis 2024. * Co-head for the [http://masteririv.u-strasbg.fr/index.php/Accueil IRIV Master’s program] since 2015. * Head for the [https://www.master-iriv.fr/m2/parcours-ar AR track] of the [http://master-iriv.u-strasbg.fr/ IRIV Master’s program] since 2005. * Member of the Board of Directors of Telecom Physique Strasbourg since 2010. * Member of the Advisory Board of Telecom Physique Strasbourg since 2010. * Leader of the “Complex Systems and Sparsity” theme of the RDH team since 2021. * Chairman of the Scientific Expert Committee of Télécom Physique Strasbourg since 2022. * Associate Editor of the journal ‘‘IEEE Robotics and Automation Letters’’ since 2024. == Responsabilités antérieures == * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement / Teaching= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] Lecturer at [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées / Subjects Taught== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours d'informatique temps-réel ** Cours sur les drones * In the second year: ** Digital Control Course ** Sustainable Engineering Course ** Robotics and Automation Lab Sessions * In the third year and Master 2: ** Robotics Course ** Vision-Based Control Course ** Real-Time Computing Course ** Drone Course == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] Videos of almost all my courses are available on [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA my YouTube channel]. They have been compiled into MOOCs on this page: [https://sites.google.com/view/rbotx/] =Recherche= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. Summary of the last 10 years of my research guided by the principle of frugality. I made this presentation at INRIA Rennes in February 2024 during a seminar organized on the sidelines of Marco Tognon’s Habilitation defense. <youtube>ThW7nigN9hQ</youtube> ==Thématiques / Research Topics== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] * Vision-Based Control * Fast Visual Servoing * Predictive Control * Manipulation Robotics * Medical and Surgical Robotics * Compensation of Physiological Motion * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Cable-Driven Parallel Robotics] * [https://www.dextair.com Aerial Manipulation] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 2d4a59ff7f185c0dbbbb6fa832822f1350c566ce 552 551 2024-07-16T07:22:59Z Jacques.gangloff 11 /* Thématiques / Research Topics */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA YouTube] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone / Phone : +33 (0)3 68 85 44 80 * Adresse pro / Prof. address : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau / Office : C132 * Adresse perso / Pers. address : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance / Date of birth * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS) / Engineering Degree from INSA Strasbourg * 1994 : Intégration de l'ENS de Cachan / Admission to ENS Cachan * 1995 : Agrégation de génie électrique / Agrégation in Electrical Engineering * 1996 : DEA de photonique et image / Master degree in Photonics and Imaging * 1999 : Thèse de doctorat / PhD * 2000 : Maître de conférences / Associate Professor * 2004 : Habilitation à diriger les recherches / Habilitation to supervise research * 2005 : Professeur des universités / Full Professor =Certificats d'authenticité / Certificates of Authenticity= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. Starting from September 2020, all recommendation letters, thesis reports, and project reviews will be certified using a QR code that links to this section of my personal page. To verify the authenticity of the document, simply download the corresponding PDF by following the link below and enter the password located under the QR code of the document to be verified. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat / Example]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats / Access to certificates] <br style="clear: both" /> =Responsabilités / Responsibilities= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. * Editeur associé du journal ''IEEE Robotics and Automation Letters'' depuis 2024. * Co-head for the [http://masteririv.u-strasbg.fr/index.php/Accueil IRIV Master’s program] since 2015. * Head for the [https://www.master-iriv.fr/m2/parcours-ar AR track] of the [http://master-iriv.u-strasbg.fr/ IRIV Master’s program] since 2005. * Member of the Board of Directors of Telecom Physique Strasbourg since 2010. * Member of the Advisory Board of Telecom Physique Strasbourg since 2010. * Leader of the “Complex Systems and Sparsity” theme of the RDH team since 2021. * Chairman of the Scientific Expert Committee of Télécom Physique Strasbourg since 2022. * Associate Editor of the journal ‘‘IEEE Robotics and Automation Letters’’ since 2024. == Responsabilités antérieures == * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement / Teaching= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] Lecturer at [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées / Subjects Taught== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours d'informatique temps-réel ** Cours sur les drones * In the second year: ** Digital Control Course ** Sustainable Engineering Course ** Robotics and Automation Lab Sessions * In the third year and Master 2: ** Robotics Course ** Vision-Based Control Course ** Real-Time Computing Course ** Drone Course == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] Videos of almost all my courses are available on [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA my YouTube channel]. They have been compiled into MOOCs on this page: [https://sites.google.com/view/rbotx/] =Recherche= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. Summary of the last 10 years of my research guided by the principle of frugality. I made this presentation at INRIA Rennes in February 2024 during a seminar organized on the sidelines of Marco Tognon’s Habilitation defense. <youtube>ThW7nigN9hQ</youtube> ==Thématiques / Research Topics== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] * Vision-Based Control * Fast Visual Servoing * Predictive Control * Manipulation Robotics * Medical and Surgical Robotics * Compensation of Physiological Motion * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Cable-Driven Parallel Robotics] * [https://www.dextair.com Aerial Manipulation] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 364597cd07621763866963e27175a238218cce68 553 552 2024-07-16T07:23:45Z Jacques.gangloff 11 /* Thématiques / Research Topics */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA YouTube] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone / Phone : +33 (0)3 68 85 44 80 * Adresse pro / Prof. address : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau / Office : C132 * Adresse perso / Pers. address : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance / Date of birth * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS) / Engineering Degree from INSA Strasbourg * 1994 : Intégration de l'ENS de Cachan / Admission to ENS Cachan * 1995 : Agrégation de génie électrique / Agrégation in Electrical Engineering * 1996 : DEA de photonique et image / Master degree in Photonics and Imaging * 1999 : Thèse de doctorat / PhD * 2000 : Maître de conférences / Associate Professor * 2004 : Habilitation à diriger les recherches / Habilitation to supervise research * 2005 : Professeur des universités / Full Professor =Certificats d'authenticité / Certificates of Authenticity= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. Starting from September 2020, all recommendation letters, thesis reports, and project reviews will be certified using a QR code that links to this section of my personal page. To verify the authenticity of the document, simply download the corresponding PDF by following the link below and enter the password located under the QR code of the document to be verified. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat / Example]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats / Access to certificates] <br style="clear: both" /> =Responsabilités / Responsibilities= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. * Editeur associé du journal ''IEEE Robotics and Automation Letters'' depuis 2024. * Co-head for the [http://masteririv.u-strasbg.fr/index.php/Accueil IRIV Master’s program] since 2015. * Head for the [https://www.master-iriv.fr/m2/parcours-ar AR track] of the [http://master-iriv.u-strasbg.fr/ IRIV Master’s program] since 2005. * Member of the Board of Directors of Telecom Physique Strasbourg since 2010. * Member of the Advisory Board of Telecom Physique Strasbourg since 2010. * Leader of the “Complex Systems and Sparsity” theme of the RDH team since 2021. * Chairman of the Scientific Expert Committee of Télécom Physique Strasbourg since 2022. * Associate Editor of the journal ‘‘IEEE Robotics and Automation Letters’’ since 2024. == Responsabilités antérieures == * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement / Teaching= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] Lecturer at [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées / Subjects Taught== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours d'informatique temps-réel ** Cours sur les drones * In the second year: ** Digital Control Course ** Sustainable Engineering Course ** Robotics and Automation Lab Sessions * In the third year and Master 2: ** Robotics Course ** Vision-Based Control Course ** Real-Time Computing Course ** Drone Course == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] Videos of almost all my courses are available on [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA my YouTube channel]. They have been compiled into MOOCs on this page: [https://sites.google.com/view/rbotx/] =Recherche= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. Summary of the last 10 years of my research guided by the principle of frugality. I made this presentation at INRIA Rennes in February 2024 during a seminar organized on the sidelines of Marco Tognon’s Habilitation defense. <youtube>ThW7nigN9hQ</youtube> ==Thématiques / Research Topics== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] * Vision-Based Control * Dynamic Visual Servoing * Predictive Control * Industrial Robotics * Medical and Surgical Robotics * Compensation of Physiological Motion * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Cable-Driven Parallel Robotics] * [https://www.dextair.com Aerial Manipulation] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> fd7137202cf92eb44510f010392a8de1152c695c 554 553 2024-07-16T07:24:21Z Jacques.gangloff 11 /* Recherche */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA YouTube] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone / Phone : +33 (0)3 68 85 44 80 * Adresse pro / Prof. address : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau / Office : C132 * Adresse perso / Pers. address : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance / Date of birth * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS) / Engineering Degree from INSA Strasbourg * 1994 : Intégration de l'ENS de Cachan / Admission to ENS Cachan * 1995 : Agrégation de génie électrique / Agrégation in Electrical Engineering * 1996 : DEA de photonique et image / Master degree in Photonics and Imaging * 1999 : Thèse de doctorat / PhD * 2000 : Maître de conférences / Associate Professor * 2004 : Habilitation à diriger les recherches / Habilitation to supervise research * 2005 : Professeur des universités / Full Professor =Certificats d'authenticité / Certificates of Authenticity= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. Starting from September 2020, all recommendation letters, thesis reports, and project reviews will be certified using a QR code that links to this section of my personal page. To verify the authenticity of the document, simply download the corresponding PDF by following the link below and enter the password located under the QR code of the document to be verified. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat / Example]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats / Access to certificates] <br style="clear: both" /> =Responsabilités / Responsibilities= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. * Editeur associé du journal ''IEEE Robotics and Automation Letters'' depuis 2024. * Co-head for the [http://masteririv.u-strasbg.fr/index.php/Accueil IRIV Master’s program] since 2015. * Head for the [https://www.master-iriv.fr/m2/parcours-ar AR track] of the [http://master-iriv.u-strasbg.fr/ IRIV Master’s program] since 2005. * Member of the Board of Directors of Telecom Physique Strasbourg since 2010. * Member of the Advisory Board of Telecom Physique Strasbourg since 2010. * Leader of the “Complex Systems and Sparsity” theme of the RDH team since 2021. * Chairman of the Scientific Expert Committee of Télécom Physique Strasbourg since 2022. * Associate Editor of the journal ‘‘IEEE Robotics and Automation Letters’’ since 2024. == Responsabilités antérieures == * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement / Teaching= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] Lecturer at [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées / Subjects Taught== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours d'informatique temps-réel ** Cours sur les drones * In the second year: ** Digital Control Course ** Sustainable Engineering Course ** Robotics and Automation Lab Sessions * In the third year and Master 2: ** Robotics Course ** Vision-Based Control Course ** Real-Time Computing Course ** Drone Course == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] Videos of almost all my courses are available on [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA my YouTube channel]. They have been compiled into MOOCs on this page: [https://sites.google.com/view/rbotx/] =Recherche / Research= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. Summary of the last 10 years of my research guided by the principle of frugality. I made this presentation at INRIA Rennes in February 2024 during a seminar organized on the sidelines of Marco Tognon’s Habilitation defense. <youtube>ThW7nigN9hQ</youtube> ==Thématiques / Research Topics== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] * Vision-Based Control * Dynamic Visual Servoing * Predictive Control * Industrial Robotics * Medical and Surgical Robotics * Compensation of Physiological Motion * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Cable-Driven Parallel Robotics] * [https://www.dextair.com Aerial Manipulation] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 2468f64fc93e3b498eed44b2e18d5a1c3be68b9f 0 46 505 495 2024-04-10T13:05:44Z Nageotte 14 /* Research */ wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Associate Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> <!-- =News : Two open PhD positions in Medical robotics= == Vision-based Trajectory Tracking Robust to Modeling Errors == === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 == Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening == === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 --> =Curriculum Vitae= * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shool, Strasbourg. Major in robotics. =Responsibilities= * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In Telecom Physique Strasbourg === ==== Healthtech Master and Third year TIS DTMI (M2 level), ==== * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> ==== M2 IRIV / IRMC ==== * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> ==== TPS, Second year and M1 IRIV ==== * Tutorials on OpenCV * Computer vision course (mosaicking, reconstruction of planar objects) === In Physics and engineering department of University of Strasbourg === ==== Electronic systems and Mechatronics Bachelor (Third year) ==== * Tutorials and hands-on in continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> ==== Micro and Nano Electronics Master (First year) ==== * Course, tutorials and hands-on in discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === Past lectures === ==== TPS FIP Third year ==== * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses supervision (defended theses) ** Paul Mondou (with Jonathan Vappou and Benoit Larrat (CEA Neurospin)), partly funded by CAMI Labex, defended on December 2023, "Intelligent control of microbubbles cavitation through the skull for optimizing US therapies" ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), defended on May 3 2023: Shared control for minimally invasive surgery ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University of Verona, Italy)), defended on January 16 2023 ** Gaelle Thomas, defended in October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Oscar Caravaca Mora, defended in February 2020 (Development of steerable OCT catheterfor endoscopic applications) ** Laure-Anaïs Chanel, defended in March 2016 (Robotic HIFU treatments under ultrasounds imaging, funded by CAMI labex) ** Paolo Cabras, defended in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021 ** Mahdi Chaari, (MSII Doctoral school PhD thesis), since October 2023 ** Guilherme Correia, (with Jonathan Vappou, funded by Healthtech and TechnoFUS joint lab), since October 2023 * Co-supervisions: ** Fernando Gonzalez Herrera, (with Benoit Rosa, Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** Giorgia Baldazzi ** Adnan Saood ** Tania Olmo Fajardo ** Edgard Weissrock ** François Lavieille ** Thibault Poignonec ** Xuan Thao Ha ** Mohamed Amine Falek == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » <!-- = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. --> =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | e13cba32ca762acc5826ea948ef60a0bdbbc7ecd 506 505 2024-04-11T07:13:41Z Nageotte 14 /* Research */ wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Associate Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> <!-- =News : Two open PhD positions in Medical robotics= == Vision-based Trajectory Tracking Robust to Modeling Errors == === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 == Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening == === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 --> =Curriculum Vitae= * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shool, Strasbourg. Major in robotics. =Responsibilities= * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In Telecom Physique Strasbourg === ==== Healthtech Master and Third year TIS DTMI (M2 level), ==== * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> ==== M2 IRIV / IRMC ==== * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> ==== TPS, Second year and M1 IRIV ==== * Tutorials on OpenCV * Computer vision course (mosaicking, reconstruction of planar objects) === In Physics and engineering department of University of Strasbourg === ==== Electronic systems and Mechatronics Bachelor (Third year) ==== * Tutorials and hands-on in continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> ==== Micro and Nano Electronics Master (First year) ==== * Course, tutorials and hands-on in discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === Past lectures === ==== TPS FIP Third year ==== * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses supervision (defended theses) ** Paul Mondou (with Jonathan Vappou, Anthony Novell and Benoit Larrat (CEA Neurospin)), partly funded by CAMI Labex, defended on December 2023, "Intelligent control of microbubbles cavitation through the skull for optimizing US therapies" ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), defended on May 3 2023: Shared control for minimally invasive surgery ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University of Verona, Italy)), defended on January 16 2023 ** Gaelle Thomas, defended in October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Oscar Caravaca Mora, defended in February 2020 (Development of steerable OCT catheterfor endoscopic applications) ** Laure-Anaïs Chanel, defended in March 2016 (Robotic HIFU treatments under ultrasounds imaging, funded by CAMI labex) ** Paolo Cabras, defended in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021 ** Mahdi Chaari, (MSII Doctoral school PhD thesis), since October 2023 ** Guilherme Correia, (with Jonathan Vappou, funded by Healthtech and TechnoFUS joint lab), since October 2023 * Co-supervisions: ** Fernando Gonzalez Herrera, (with Benoit Rosa, Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** Giorgia Baldazzi ** Adnan Saood ** Tania Olmo Fajardo ** Edgard Weissrock ** François Lavieille ** Thibault Poignonec ** Xuan Thao Ha ** Mohamed Amine Falek == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » <!-- = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. --> =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | 9f3112d1d4accf726505f19fbc20f50ecad67b98 509 506 2024-05-04T16:56:16Z Nageotte 14 /* Projects */ wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Associate Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> <!-- =News : Two open PhD positions in Medical robotics= == Vision-based Trajectory Tracking Robust to Modeling Errors == === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 == Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening == === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 --> =Curriculum Vitae= * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shool, Strasbourg. Major in robotics. =Responsibilities= * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In Telecom Physique Strasbourg === ==== Healthtech Master and Third year TIS DTMI (M2 level), ==== * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> ==== M2 IRIV / IRMC ==== * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> ==== TPS, Second year and M1 IRIV ==== * Tutorials on OpenCV * Computer vision course (mosaicking, reconstruction of planar objects) === In Physics and engineering department of University of Strasbourg === ==== Electronic systems and Mechatronics Bachelor (Third year) ==== * Tutorials and hands-on in continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> ==== Micro and Nano Electronics Master (First year) ==== * Course, tutorials and hands-on in discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === Past lectures === ==== TPS FIP Third year ==== * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses supervision (defended theses) ** Paul Mondou (with Jonathan Vappou, Anthony Novell and Benoit Larrat (CEA Neurospin)), partly funded by CAMI Labex, defended on December 2023, "Intelligent control of microbubbles cavitation through the skull for optimizing US therapies" ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), defended on May 3 2023: Shared control for minimally invasive surgery ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University of Verona, Italy)), defended on January 16 2023 ** Gaelle Thomas, defended in October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Oscar Caravaca Mora, defended in February 2020 (Development of steerable OCT catheterfor endoscopic applications) ** Laure-Anaïs Chanel, defended in March 2016 (Robotic HIFU treatments under ultrasounds imaging, funded by CAMI labex) ** Paolo Cabras, defended in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021 ** Mahdi Chaari, (MSII Doctoral school PhD thesis), since October 2023 ** Guilherme Correia, (with Jonathan Vappou, funded by Healthtech and TechnoFUS joint lab), since October 2023 * Co-supervisions: ** Fernando Gonzalez Herrera, (with Benoit Rosa, Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** Giorgia Baldazzi ** Adnan Saood ** Tania Olmo Fajardo ** Edgard Weissrock ** François Lavieille ** Thibault Poignonec ** Xuan Thao Ha ** Mohamed Amine Falek == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * FUS-Cobot (2023-2025), led by Axilum Robotics with ICube as scientific partner: Development of robotic solutions for FUS-induced neuro-stimulation, funded by Fondation FORCE * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » <!-- = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. --> =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | a75e183577874eb53bb3c60666a3812cfde5d68b 510 509 2024-05-04T16:57:56Z Nageotte 14 /* Research */ wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Associate Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> <!-- =News : Two open PhD positions in Medical robotics= == Vision-based Trajectory Tracking Robust to Modeling Errors == === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 == Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening == === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 --> =Curriculum Vitae= * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shool, Strasbourg. Major in robotics. =Responsibilities= * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In Telecom Physique Strasbourg === ==== Healthtech Master and Third year TIS DTMI (M2 level), ==== * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> ==== M2 IRIV / IRMC ==== * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> ==== TPS, Second year and M1 IRIV ==== * Tutorials on OpenCV * Computer vision course (mosaicking, reconstruction of planar objects) === In Physics and engineering department of University of Strasbourg === ==== Electronic systems and Mechatronics Bachelor (Third year) ==== * Tutorials and hands-on in continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> ==== Micro and Nano Electronics Master (First year) ==== * Course, tutorials and hands-on in discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === Past lectures === ==== TPS FIP Third year ==== * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses supervision (defended theses) ** Paul Mondou (with Jonathan Vappou, Anthony Novell and Benoit Larrat (CEA Neurospin)), partly funded by CAMI Labex, defended on December 2023, "Intelligent control of microbubbles cavitation through the skull for optimizing US therapies" ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), defended on May 3 2023: Shared control for minimally invasive surgery ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University of Verona, Italy)), defended on January 16 2023 ** Gaelle Thomas, defended in October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Oscar Caravaca Mora, defended in February 2020 (Development of steerable OCT catheterfor endoscopic applications) ** Laure-Anaïs Chanel, defended in March 2016 (Robotic HIFU treatments under ultrasounds imaging, funded by CAMI labex) ** Paolo Cabras, defended in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021 ** Mahdi Chaari, (MSII Doctoral school PhD thesis), since October 2023 ** Guilherme Correia, (with Jonathan Vappou, funded by Healthtech and TechnoFUS joint lab), since October 2023 * Co-supervisions: ** Fernando Gonzalez Herrera, (with Benoit Rosa, Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** Giorgia Baldazzi (2024) ** Adnan Saood (2022) ** Tania Olmo Fajardo (2022) ** Edgard Weissrock (2022) ** François Lavieille (2021) ** Thibault Poignonec (2019) ** Xuan Thao Ha (2018) ** Mohamed Amine Falek (2017) == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * FUS-Cobot (2023-2025), led by Axilum Robotics with ICube as scientific partner: Development of robotic solutions for FUS-induced neuro-stimulation, funded by Fondation FORCE * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » <!-- = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. --> =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | 7e448267359d2aef0c9136c1c8e661e779146dee 0 23 511 384 2024-05-20T15:13:28Z Bernard.bayle 5 /* Research */ wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || @IHU de Strasbourg<br> Bernard BAYLE <br> IHU de Strasbourg, RDH/ICube<br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel. : +33 3 90 41 35 46 |} === Research === Researcher in the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] (formerly Automatic control, computer Vision and Robotics) of the ICube laboratory and deputy head of the team. I am also the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. My current research activities are dedicated to physical human-robot interactions, with robot assistance to medical interventions as the main application field. Short bio - Bernard Bayle is deputy head of the Robotics, Data science and Healthcare technologies research group (> 80 people, among which 36 permanent researchers) of the ICube Laboratory. In 2011, he co-founded Axilum Robotics, a company that markets robotic assistance solutions for Transcranial Magnetic Stimulation. As a Professor at Télécom Physique Strasbourg, an engineering school of the University of Strasbourg, he created in 2011 an innovative graduate curriculum in biomedical engineering, focused on information technologies applied to healthcare. Recently, he has been the sponsor of the Interdisciplinary Institute of Information Sciences and Technology for Healthcare (https://healthtech.unistra.fr/) that opened in 2021 at the University of Strasbourg. Prof. Bayle has supervised 7 PhD students as advisor and 6 PhD students as co-advisor (2 PhD awards), and has been awarded of the excellence grant for PhD tutoring and research (PEDR) continuously since 2007. Prof. Bayle is the author of more than 100 scientific publications, 25 publications in international peer-reviewed journals (>75% top-rank journals), 7 book chapters, and more than 50 publications in international peer-reviewed conferences. In addition, in has been an inventor in 7 patent applications. His research interests include design, modeling and control of robotic systems, with a focus on medical robotics and force feedback technologies. [https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu Publications] <br> [[PhD_supervisions_B._Bayle|PhD supervision]] === Teaching === Professor at [https://www.telecom-physique.fr/ Télécom Physique Strasbourg], I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[Teaching_B._Bayle|'''here''']]. 37dda745a7eb4ad972df0c95ebe089bd1b0fa3fc 512 511 2024-05-20T15:25:19Z Bernard.bayle 5 /* Research */ wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || @IHU de Strasbourg<br> Bernard BAYLE <br> IHU de Strasbourg, RDH/ICube<br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel. : +33 3 90 41 35 46 |} === Research === Researcher in the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] (formerly Automatic control, computer Vision and Robotics) of the ICube laboratory and deputy head of the team. I am also the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. My current research activities are dedicated to physical human-robot interactions, with robot assistance to medical interventions as the main application field. [https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu Publications] <br> [[PhD_supervisions_B._Bayle|PhD supervision]] === Teaching === Professor at [https://www.telecom-physique.fr/ Télécom Physique Strasbourg], I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[Teaching_B._Bayle|'''here''']]. 7e40c5a4c9f2326e45f241061f3992ccd611197d 513 512 2024-05-20T15:25:41Z Bernard.bayle 5 /* Teaching */ wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || @IHU de Strasbourg<br> Bernard BAYLE <br> IHU de Strasbourg, RDH/ICube<br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel. : +33 3 90 41 35 46 |} === Research === Researcher in the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] (formerly Automatic control, computer Vision and Robotics) of the ICube laboratory and deputy head of the team. I am also the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. My current research activities are dedicated to physical human-robot interactions, with robot assistance to medical interventions as the main application field. [https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu Publications] <br> [[PhD_supervisions_B._Bayle|PhD supervision]] === Teaching === Professor at [https://www.telecom-physique.fr/ Télécom Physique Strasbourg], I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[Teaching_B._Bayle|'''here''']]. === Short bio === Bernard Bayle is deputy head of the Robotics, Data science and Healthcare technologies research group (> 80 people, among which 36 permanent researchers) of the ICube Laboratory. In 2011, he co-founded Axilum Robotics, a company that markets robotic assistance solutions for Transcranial Magnetic Stimulation. As a Professor at Télécom Physique Strasbourg, an engineering school of the University of Strasbourg, he created in 2011 an innovative graduate curriculum in biomedical engineering, focused on information technologies applied to healthcare. Recently, he has been the sponsor of the Interdisciplinary Institute of Information Sciences and Technology for Healthcare (https://healthtech.unistra.fr/) that opened in 2021 at the University of Strasbourg. Prof. Bayle has supervised 7 PhD students as advisor and 6 PhD students as co-advisor (2 PhD awards), and has been awarded of the excellence grant for PhD tutoring and research (PEDR) continuously since 2007. Prof. Bayle is the author of more than 100 scientific publications, 25 publications in international peer-reviewed journals (>75% top-rank journals), 7 book chapters, and more than 50 publications in international peer-reviewed conferences. In addition, in has been an inventor in 7 patent applications. His research interests include design, modeling and control of robotic systems, with a focus on medical robotics and force feedback technologies. 10b25e152fd2474b37a0be416a8d3b4bd506336c 514 513 2024-05-20T15:27:53Z Bernard.bayle 5 /* Research */ wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || @IHU de Strasbourg<br> Bernard BAYLE <br> IHU de Strasbourg, RDH/ICube<br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel. : +33 3 90 41 35 46 |} === Research === Researcher in the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] (formerly Automatic control, computer Vision and Robotics) of the ICube laboratory and deputy head of the team. I am also the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. My current research activities are dedicated to physical human-robot interactions, with robot assistance to medical interventions as the main application field. [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_articles&year1=1979&year2=2016#hideMenu Articles], [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_bll&year1=1979&year2=2016#hideMenu Patents] <br>[https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu All publications] <br> <br> [[PhD_supervisions_B._Bayle|PhD supervision]] === Teaching === Professor at [https://www.telecom-physique.fr/ Télécom Physique Strasbourg], I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[Teaching_B._Bayle|'''here''']]. === Short bio === Bernard Bayle is deputy head of the Robotics, Data science and Healthcare technologies research group (> 80 people, among which 36 permanent researchers) of the ICube Laboratory. In 2011, he co-founded Axilum Robotics, a company that markets robotic assistance solutions for Transcranial Magnetic Stimulation. As a Professor at Télécom Physique Strasbourg, an engineering school of the University of Strasbourg, he created in 2011 an innovative graduate curriculum in biomedical engineering, focused on information technologies applied to healthcare. Recently, he has been the sponsor of the Interdisciplinary Institute of Information Sciences and Technology for Healthcare (https://healthtech.unistra.fr/) that opened in 2021 at the University of Strasbourg. Prof. Bayle has supervised 7 PhD students as advisor and 6 PhD students as co-advisor (2 PhD awards), and has been awarded of the excellence grant for PhD tutoring and research (PEDR) continuously since 2007. Prof. Bayle is the author of more than 100 scientific publications, 25 publications in international peer-reviewed journals (>75% top-rank journals), 7 book chapters, and more than 50 publications in international peer-reviewed conferences. In addition, in has been an inventor in 7 patent applications. His research interests include design, modeling and control of robotic systems, with a focus on medical robotics and force feedback technologies. a3ad9443f0bc877d8a9814dcb45bb1d38c6e65d9 515 514 2024-05-20T15:28:16Z Bernard.bayle 5 /* Research */ wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || @IHU de Strasbourg<br> Bernard BAYLE <br> IHU de Strasbourg, RDH/ICube<br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel. : +33 3 90 41 35 46 |} === Research === Researcher in the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] (formerly Automatic control, computer Vision and Robotics) of the ICube laboratory and deputy head of the team. I am also the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. My current research activities are dedicated to physical human-robot interactions, with robot assistance to medical interventions as the main application field. [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_articles&year1=1979&year2=2016#hideMenu Articles], [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_bll&year1=1979&year2=2016#hideMenu Patents] [https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu All publications] <br> <br> [[PhD_supervisions_B._Bayle|PhD supervision]] === Teaching === Professor at [https://www.telecom-physique.fr/ Télécom Physique Strasbourg], I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[Teaching_B._Bayle|'''here''']]. === Short bio === Bernard Bayle is deputy head of the Robotics, Data science and Healthcare technologies research group (> 80 people, among which 36 permanent researchers) of the ICube Laboratory. In 2011, he co-founded Axilum Robotics, a company that markets robotic assistance solutions for Transcranial Magnetic Stimulation. As a Professor at Télécom Physique Strasbourg, an engineering school of the University of Strasbourg, he created in 2011 an innovative graduate curriculum in biomedical engineering, focused on information technologies applied to healthcare. Recently, he has been the sponsor of the Interdisciplinary Institute of Information Sciences and Technology for Healthcare (https://healthtech.unistra.fr/) that opened in 2021 at the University of Strasbourg. Prof. Bayle has supervised 7 PhD students as advisor and 6 PhD students as co-advisor (2 PhD awards), and has been awarded of the excellence grant for PhD tutoring and research (PEDR) continuously since 2007. Prof. Bayle is the author of more than 100 scientific publications, 25 publications in international peer-reviewed journals (>75% top-rank journals), 7 book chapters, and more than 50 publications in international peer-reviewed conferences. In addition, in has been an inventor in 7 patent applications. His research interests include design, modeling and control of robotic systems, with a focus on medical robotics and force feedback technologies. 984ecce584a8b27cc1f5779ee06432e4cc54a750 516 515 2024-05-20T15:28:26Z Bernard.bayle 5 /* Research */ wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || @IHU de Strasbourg<br> Bernard BAYLE <br> IHU de Strasbourg, RDH/ICube<br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel. : +33 3 90 41 35 46 |} === Research === Researcher in the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] (formerly Automatic control, computer Vision and Robotics) of the ICube laboratory and deputy head of the team. I am also the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. My current research activities are dedicated to physical human-robot interactions, with robot assistance to medical interventions as the main application field. [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_articles&year1=1979&year2=2016#hideMenu Articles], [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_bll&year1=1979&year2=2016#hideMenu Patents] [https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu All publications] <br> [[PhD_supervisions_B._Bayle|PhD supervision]] === Teaching === Professor at [https://www.telecom-physique.fr/ Télécom Physique Strasbourg], I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[Teaching_B._Bayle|'''here''']]. === Short bio === Bernard Bayle is deputy head of the Robotics, Data science and Healthcare technologies research group (> 80 people, among which 36 permanent researchers) of the ICube Laboratory. In 2011, he co-founded Axilum Robotics, a company that markets robotic assistance solutions for Transcranial Magnetic Stimulation. As a Professor at Télécom Physique Strasbourg, an engineering school of the University of Strasbourg, he created in 2011 an innovative graduate curriculum in biomedical engineering, focused on information technologies applied to healthcare. Recently, he has been the sponsor of the Interdisciplinary Institute of Information Sciences and Technology for Healthcare (https://healthtech.unistra.fr/) that opened in 2021 at the University of Strasbourg. Prof. Bayle has supervised 7 PhD students as advisor and 6 PhD students as co-advisor (2 PhD awards), and has been awarded of the excellence grant for PhD tutoring and research (PEDR) continuously since 2007. Prof. Bayle is the author of more than 100 scientific publications, 25 publications in international peer-reviewed journals (>75% top-rank journals), 7 book chapters, and more than 50 publications in international peer-reviewed conferences. In addition, in has been an inventor in 7 patent applications. His research interests include design, modeling and control of robotic systems, with a focus on medical robotics and force feedback technologies. 72d1671c75a08ff7b7b3cd0e44cb8453c1527283 517 516 2024-05-20T15:28:50Z Bernard.bayle 5 /* Research */ wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || @IHU de Strasbourg<br> Bernard BAYLE <br> IHU de Strasbourg, RDH/ICube<br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel. : +33 3 90 41 35 46 |} === Research === Researcher in the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] (formerly Automatic control, computer Vision and Robotics) of the ICube laboratory and deputy head of the team. I am also the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. My current research activities are dedicated to physical human-robot interactions, with robot assistance to medical interventions as the main application field. [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_articles&year1=1979&year2=2016#hideMenu Articles], [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_bll&year1=1979&year2=2016#hideMenu Patents], [https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu All publications], [[PhD_supervisions_B._Bayle|PhD supervision]] === Teaching === Professor at [https://www.telecom-physique.fr/ Télécom Physique Strasbourg], I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[Teaching_B._Bayle|'''here''']]. === Short bio === Bernard Bayle is deputy head of the Robotics, Data science and Healthcare technologies research group (> 80 people, among which 36 permanent researchers) of the ICube Laboratory. In 2011, he co-founded Axilum Robotics, a company that markets robotic assistance solutions for Transcranial Magnetic Stimulation. As a Professor at Télécom Physique Strasbourg, an engineering school of the University of Strasbourg, he created in 2011 an innovative graduate curriculum in biomedical engineering, focused on information technologies applied to healthcare. Recently, he has been the sponsor of the Interdisciplinary Institute of Information Sciences and Technology for Healthcare (https://healthtech.unistra.fr/) that opened in 2021 at the University of Strasbourg. Prof. Bayle has supervised 7 PhD students as advisor and 6 PhD students as co-advisor (2 PhD awards), and has been awarded of the excellence grant for PhD tutoring and research (PEDR) continuously since 2007. Prof. Bayle is the author of more than 100 scientific publications, 25 publications in international peer-reviewed journals (>75% top-rank journals), 7 book chapters, and more than 50 publications in international peer-reviewed conferences. In addition, in has been an inventor in 7 patent applications. His research interests include design, modeling and control of robotic systems, with a focus on medical robotics and force feedback technologies. 7b4a4fd6c587efc9553d6e99274e84d415d0f434 518 517 2024-05-20T15:29:37Z Bernard.bayle 5 /* Research */ wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || @IHU de Strasbourg<br> Bernard BAYLE <br> IHU de Strasbourg, RDH/ICube<br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel. : +33 3 90 41 35 46 |} === Research === Researcher in the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] (formerly Automatic control, computer Vision and Robotics) of the ICube laboratory and deputy head of the team. I am also the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. My current research activities are dedicated to physical human-robot interactions, with robot assistance to medical interventions as the main application field. [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_articles&year1=1979&year2=2036#hideMenu Articles], [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_bll&year1=1979&year2=2036#hideMenu Patents], [https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu All publications], [[PhD_supervisions_B._Bayle|PhD supervision]] === Teaching === Professor at [https://www.telecom-physique.fr/ Télécom Physique Strasbourg], I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[Teaching_B._Bayle|'''here''']]. === Short bio === Bernard Bayle is deputy head of the Robotics, Data science and Healthcare technologies research group (> 80 people, among which 36 permanent researchers) of the ICube Laboratory. In 2011, he co-founded Axilum Robotics, a company that markets robotic assistance solutions for Transcranial Magnetic Stimulation. As a Professor at Télécom Physique Strasbourg, an engineering school of the University of Strasbourg, he created in 2011 an innovative graduate curriculum in biomedical engineering, focused on information technologies applied to healthcare. Recently, he has been the sponsor of the Interdisciplinary Institute of Information Sciences and Technology for Healthcare (https://healthtech.unistra.fr/) that opened in 2021 at the University of Strasbourg. Prof. Bayle has supervised 7 PhD students as advisor and 6 PhD students as co-advisor (2 PhD awards), and has been awarded of the excellence grant for PhD tutoring and research (PEDR) continuously since 2007. Prof. Bayle is the author of more than 100 scientific publications, 25 publications in international peer-reviewed journals (>75% top-rank journals), 7 book chapters, and more than 50 publications in international peer-reviewed conferences. In addition, in has been an inventor in 7 patent applications. His research interests include design, modeling and control of robotic systems, with a focus on medical robotics and force feedback technologies. f08949dba6968ce91f2f8bfc3ac5990f8ca92687 519 518 2024-05-20T15:30:02Z Bernard.bayle 5 /* Research */ wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || @IHU de Strasbourg<br> Bernard BAYLE <br> IHU de Strasbourg, RDH/ICube<br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel. : +33 3 90 41 35 46 |} === Research === Researcher in the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] (formerly Automatic control, computer Vision and Robotics) of the ICube laboratory and deputy head of the team. I am also the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. My current research activities are dedicated to physical human-robot interactions, with robot assistance to medical interventions as the main application field. [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_articles&year1=1979#hideMenu Articles], [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_bll&year1=1979#hideMenu Patents], [https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu All publications], [[PhD_supervisions_B._Bayle|PhD supervision]] === Teaching === Professor at [https://www.telecom-physique.fr/ Télécom Physique Strasbourg], I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[Teaching_B._Bayle|'''here''']]. === Short bio === Bernard Bayle is deputy head of the Robotics, Data science and Healthcare technologies research group (> 80 people, among which 36 permanent researchers) of the ICube Laboratory. In 2011, he co-founded Axilum Robotics, a company that markets robotic assistance solutions for Transcranial Magnetic Stimulation. As a Professor at Télécom Physique Strasbourg, an engineering school of the University of Strasbourg, he created in 2011 an innovative graduate curriculum in biomedical engineering, focused on information technologies applied to healthcare. Recently, he has been the sponsor of the Interdisciplinary Institute of Information Sciences and Technology for Healthcare (https://healthtech.unistra.fr/) that opened in 2021 at the University of Strasbourg. Prof. Bayle has supervised 7 PhD students as advisor and 6 PhD students as co-advisor (2 PhD awards), and has been awarded of the excellence grant for PhD tutoring and research (PEDR) continuously since 2007. Prof. Bayle is the author of more than 100 scientific publications, 25 publications in international peer-reviewed journals (>75% top-rank journals), 7 book chapters, and more than 50 publications in international peer-reviewed conferences. In addition, in has been an inventor in 7 patent applications. His research interests include design, modeling and control of robotic systems, with a focus on medical robotics and force feedback technologies. 68ac16aaac362aeefcbf98c550aec4507ca26a23 520 519 2024-05-20T15:34:55Z Bernard.bayle 5 /* Short bio */ wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || @IHU de Strasbourg<br> Bernard BAYLE <br> IHU de Strasbourg, RDH/ICube<br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel. : +33 3 90 41 35 46 |} === Research === Researcher in the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] (formerly Automatic control, computer Vision and Robotics) of the ICube laboratory and deputy head of the team. I am also the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. My current research activities are dedicated to physical human-robot interactions, with robot assistance to medical interventions as the main application field. [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_articles&year1=1979#hideMenu Articles], [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_bll&year1=1979#hideMenu Patents], [https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu All publications], [[PhD_supervisions_B._Bayle|PhD supervision]] === Teaching === Professor at [https://www.telecom-physique.fr/ Télécom Physique Strasbourg], I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[Teaching_B._Bayle|'''here''']]. === Short bio === Bernard Bayle is the deputy head of the Robotics, Data science and Healthcare technologies research group (> 80 people, among which >35 permanent researchers) of the ICube Laboratory. In 2011, he co-founded Axilum Robotics, a company that markets robotic assistance solutions for Transcranial Magnetic Stimulation. As a Professor at Télécom Physique Strasbourg, an engineering school of the University of Strasbourg, he created in 2011 an innovative graduate curriculum in biomedical engineering, focused on information technologies applied to healthcare. Recently, he has been the sponsor of the Interdisciplinary Institute of Information Sciences and Technology for Healthcare (https://healthtech.unistra.fr/) that opened in 2021 at the University of Strasbourg. Prof. Bayle has supervised 11 PhD students as advisor and 6 PhD students as co-advisor (2 PhD awards), and has been awarded of the excellence grant for PhD tutoring and research (PEDR) continuously since 2007. Prof. Bayle is the author of more than 100 scientific publications, 25 publications in international peer-reviewed journals (>75% top-rank journals), 7 book chapters, and more than 50 publications in international peer-reviewed conferences. In addition, in has been an inventor in 7 patent applications. His research interests include design, modeling and control of robotic systems, with a focus on medical robotics and force feedback technologies. 6ea11aae799afd729e91490df41c9bbbbbfc9cfb 527 520 2024-05-20T15:50:08Z Bernard.bayle 5 /* Research */ wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || @IHU de Strasbourg<br> Bernard BAYLE <br> IHU de Strasbourg, RDH/ICube<br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel. : +33 3 90 41 35 46 |} === Research === Researcher in the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] (formerly Automatic control, computer Vision and Robotics) of the ICube laboratory and deputy head of the team. I am also the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. My current research activities are dedicated to physical human-robot interactions, with robot assistance to medical interventions as the main application field. [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_articles&year1=1979#hideMenu Articles], [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_bll&year1=1979#hideMenu Patents], [https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu All publications]<br> [[PhD_supervisions_B._Bayle|PhD supervision]] === Teaching === Professor at [https://www.telecom-physique.fr/ Télécom Physique Strasbourg], I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[Teaching_B._Bayle|'''here''']]. === Short bio === Bernard Bayle is the deputy head of the Robotics, Data science and Healthcare technologies research group (> 80 people, among which >35 permanent researchers) of the ICube Laboratory. In 2011, he co-founded Axilum Robotics, a company that markets robotic assistance solutions for Transcranial Magnetic Stimulation. As a Professor at Télécom Physique Strasbourg, an engineering school of the University of Strasbourg, he created in 2011 an innovative graduate curriculum in biomedical engineering, focused on information technologies applied to healthcare. Recently, he has been the sponsor of the Interdisciplinary Institute of Information Sciences and Technology for Healthcare (https://healthtech.unistra.fr/) that opened in 2021 at the University of Strasbourg. Prof. Bayle has supervised 11 PhD students as advisor and 6 PhD students as co-advisor (2 PhD awards), and has been awarded of the excellence grant for PhD tutoring and research (PEDR) continuously since 2007. Prof. Bayle is the author of more than 100 scientific publications, 25 publications in international peer-reviewed journals (>75% top-rank journals), 7 book chapters, and more than 50 publications in international peer-reviewed conferences. In addition, in has been an inventor in 7 patent applications. His research interests include design, modeling and control of robotic systems, with a focus on medical robotics and force feedback technologies. 8ca5d0370579ca70e455baaf607209297fc04041 528 527 2024-05-20T15:50:17Z Bernard.bayle 5 /* Research */ wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || @IHU de Strasbourg<br> Bernard BAYLE <br> IHU de Strasbourg, RDH/ICube<br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel. : +33 3 90 41 35 46 |} === Research === Researcher in the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] (formerly Automatic control, computer Vision and Robotics) of the ICube laboratory and deputy head of the team. I am also the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. My current research activities are dedicated to physical human-robot interactions, with robot assistance to medical interventions as the main application field. [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_articles&year1=1979#hideMenu Articles], [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_bll&year1=1979#hideMenu Patents], [https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu All publications]<br> [[PhD_supervisions_B._Bayle|PhD supervisions]] === Teaching === Professor at [https://www.telecom-physique.fr/ Télécom Physique Strasbourg], I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[Teaching_B._Bayle|'''here''']]. === Short bio === Bernard Bayle is the deputy head of the Robotics, Data science and Healthcare technologies research group (> 80 people, among which >35 permanent researchers) of the ICube Laboratory. In 2011, he co-founded Axilum Robotics, a company that markets robotic assistance solutions for Transcranial Magnetic Stimulation. As a Professor at Télécom Physique Strasbourg, an engineering school of the University of Strasbourg, he created in 2011 an innovative graduate curriculum in biomedical engineering, focused on information technologies applied to healthcare. Recently, he has been the sponsor of the Interdisciplinary Institute of Information Sciences and Technology for Healthcare (https://healthtech.unistra.fr/) that opened in 2021 at the University of Strasbourg. Prof. Bayle has supervised 11 PhD students as advisor and 6 PhD students as co-advisor (2 PhD awards), and has been awarded of the excellence grant for PhD tutoring and research (PEDR) continuously since 2007. Prof. Bayle is the author of more than 100 scientific publications, 25 publications in international peer-reviewed journals (>75% top-rank journals), 7 book chapters, and more than 50 publications in international peer-reviewed conferences. In addition, in has been an inventor in 7 patent applications. His research interests include design, modeling and control of robotic systems, with a focus on medical robotics and force feedback technologies. 8295c7865a04b411504f3b66c6cb3e055ec62c1a 529 528 2024-05-20T16:17:31Z Bernard.bayle 5 /* Short bio */ wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || @IHU de Strasbourg<br> Bernard BAYLE <br> IHU de Strasbourg, RDH/ICube<br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel. : +33 3 90 41 35 46 |} === Research === Researcher in the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] (formerly Automatic control, computer Vision and Robotics) of the ICube laboratory and deputy head of the team. I am also the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. My current research activities are dedicated to physical human-robot interactions, with robot assistance to medical interventions as the main application field. [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_articles&year1=1979#hideMenu Articles], [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_bll&year1=1979#hideMenu Patents], [https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu All publications]<br> [[PhD_supervisions_B._Bayle|PhD supervisions]] === Teaching === Professor at [https://www.telecom-physique.fr/ Télécom Physique Strasbourg], I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[Teaching_B._Bayle|'''here''']]. === Short bio === Bernard Bayle is the deputy head of the Robotics, Data science and Healthcare technologies research group (> 80 people, among which >35 permanent researchers) of the ICube Laboratory. In 2011, he co-founded Axilum Robotics, a company that markets robotic assistance solutions for Transcranial Magnetic Stimulation. As a Professor at Télécom Physique Strasbourg, an engineering school of the University of Strasbourg, he created in 2011 an innovative graduate curriculum in biomedical engineering, focused on information technologies applied to healthcare. Recently, he has been the sponsor of the Interdisciplinary Institute of Information Sciences and Technology for Healthcare (https://healthtech.unistra.fr/) that opened in 2021 at the University of Strasbourg. Prof. Bayle has supervised 11 PhD students as advisor and 6 PhD students as co-advisor (2 PhD awards), and has been awarded of the excellence grant for PhD tutoring and research (PEDR) continuously since 2007. Prof. Bayle is the author of more than 100 scientific publications, 36 publications in international peer-reviewed journals (>60% top-rank journals), 7 book chapters, and more than 50 publications in international peer-reviewed conferences. In addition, in has been an inventor in 7 patent applications. His research interests include design, modeling and control of robotic systems, with a focus on medical robotics and force feedback technologies. 2f5f603e4d9db51fef9974e46e84e671669bd08e 530 529 2024-05-20T16:18:06Z Bernard.bayle 5 /* Short bio */ wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || @IHU de Strasbourg<br> Bernard BAYLE <br> IHU de Strasbourg, RDH/ICube<br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel. : +33 3 90 41 35 46 |} === Research === Researcher in the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] (formerly Automatic control, computer Vision and Robotics) of the ICube laboratory and deputy head of the team. I am also the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. My current research activities are dedicated to physical human-robot interactions, with robot assistance to medical interventions as the main application field. [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_articles&year1=1979#hideMenu Articles], [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_bll&year1=1979#hideMenu Patents], [https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu All publications]<br> [[PhD_supervisions_B._Bayle|PhD supervisions]] === Teaching === Professor at [https://www.telecom-physique.fr/ Télécom Physique Strasbourg], I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[Teaching_B._Bayle|'''here''']]. === Short bio === Bernard Bayle is the deputy head of the Robotics, Data science and Healthcare technologies research group (> 80 people, among which >35 permanent researchers) of the ICube Laboratory. In 2011, he co-founded Axilum Robotics, a company that markets robotic assistance solutions for Transcranial Magnetic Stimulation. As a Professor at Télécom Physique Strasbourg, an engineering school of the University of Strasbourg, he created in 2011 an innovative graduate curriculum in biomedical engineering, focused on information technologies applied to healthcare. Recently, he has been the sponsor of the Interdisciplinary Institute of Information Sciences and Technology for Healthcare (https://healthtech.unistra.fr/) that opened in 2021 at the University of Strasbourg. Prof. Bayle has supervised 11 PhD students as advisor and 6 PhD students as co-advisor (2 PhD awards), and has been awarded of the excellence grant for PhD tutoring and research (PEDR) continuously since 2007. Prof. Bayle is the author of more than 140 scientific publications, 36 publications in international peer-reviewed journals (>60% top-rank journals), 7 book chapters, and more than 50 publications in international peer-reviewed conferences. In addition, in has been an inventor in 7 patent applications. His research interests include design, modeling and control of robotic systems, with a focus on medical robotics and force feedback technologies. 96ef2c59b362fc5101eda590a14516d9d60be7c6 0 27 521 99 2024-05-20T15:37:20Z Bernard.bayle 5 wikitext text/x-wiki '''Fadi Alyousef Almasalmah Sécurité des gestes chirurgicaux télé-opérés à retour d'effort 2024 (http://theses.fr/s301883)<br> ''Financement : bourse région Grand Est et Labex CAMI<br> ''Co-encadrant : Hassan Omran, Chao Liu (LIRMM)<br> ''Directeurs : Bernard Bayle, Florent Nageotte<br> '''Guillaume Lods Planning and control algorithms for continuum robots 2024 (https://www.theses.fr/s298750)<br> ''Financement : ANR JCJC MACROS (Benoit Rosa, Robots continus multi-actionnés pour la chirugie mini-invasive)<br> ''Co-encadrant : Benoit Rosa<br> ''Directeurs : Bernard Bayle, Florent Nageotte<br> '''Thibault Poignonec Commande partagée pour la télémanipulation en chirurgie minimalement invasive 2022 (http://www.theses.fr/s270395)<br> Dans cette thèse, nous développons des stratégies d'assistance à la chirurgie minimalement invasive robotisée et plus précisément à la coelioscopie et à l'endoscopie flexible. Différents défis rendent l'exécution automatique de tâches complexes en MIS : d'une part, l'environnement est non structuré et déformable ; d'autre part, les capteurs extéroceptifs sont limités et leur mesure parfois indisponible. De plus, les outils chirurgicaux utilisés sont souvent flexibles, ce qui rend leur positionnement précis compliqué. Dans la première partie de ce document, nous présentons de nouvelles approches pour réaliser l'identification en ligne du modèle du jeu mécanique présent dans les transmissions à câble utilisées par les endoscopes flexibles. Le jeu dans les transmissions à câbles dégrade la précision du positionnement en boucle ouverte et augmente la charge cognitive du praticien qui devra le compenser. Cependant, sa compensation par la commande nécessite une identification précise du modèle, qui devrait idéalement être effectuée in-situ, c'est-à-dire juste avant ou durant la procédure chirurgicale. Nous proposons plusieurs méthodes qui peuvent être appliquées à différentes architectures de robots et dans différents scénarios pertinents pour des applications médicales. Les algorithmes sont évalués à travers des simulations et évalués expérimentalement sur une plateforme endoscopique robotisée. Dans une seconde partie, nous étudions l'apprentissage en ligne des paramètres des modèles de la tâche et du robot afin de générer une assistance à l'opérateur qui pourra s'améliorer en cours d'utilisation. Nous considérons le cas du guidage haptique lors de la téléopération à distance d'un robot, un scénario classique en robotique chirurgicale. Dans ce contexte, nous évitons d'être dépendant de capteurs extéroceptifs et exploitons la présence de l'opérateur pour extraire les informations nécessaires à l'apprentissage. Les algorithmes que nous proposons sont évalués dans différents scénarios télérobotiques simulés et réels, démontrant l'applicabilité des méthodes aux problèmes d'apprentissage en ligne pour l'assistance à la téléopération.''Financement : bourse région Grand Est et Labex CAMI<br> ''Co-encadrant : Nabil Zemitti (LIRMM)<br> ''Directeurs : Bernard Bayle, Florent Nageotte<br> '''Paul Baksic Assistance robotique aux procédures percutanées chirurgicales dans les systèmes déformables 2024 (http://theses.fr/s270293)<br> Le traitement percutané par radiologie interventionnelle est indiqué pour les tumeurs hépatiques de tailles inférieures à 3 cm. Cela consiste en l’utilisation d’aiguilles par des radiologues pour atteindre les tissus cancéreux, ce qui requiert une grande maîtrise technique. Or, l’efficacité du geste dépend de la précision de ciblage alors que l’interaction aiguille-tissu induit des déformations non-triviales et que le radiologue ne voit pas ce qu’il fait directement. Cette thèse propose un outil d'assistance robotique aux procédures percutanées centré autour du praticien afin de réduire le niveau technique requis. Une méthode d'insertion automatique calculant une référence robotique permettant de compenser le couplage-aiguille tissu ainsi que les perturbations externes à l'aide d'une simulation inverse par éléments finis exécutée en temps-réel est d'abord proposée. Le partage de la commande associant les décisions du praticien à la commande automatique est ensuite abordé. Ces deux contributions sont évaluées dans le cadre d'expériences dans des tissus simulés dans un premier temps, puis dans un fantôme du foie dans un second temps. Pour cela, un dispositif expérimental est mis en place et évalué. ''Financement : bourse région Grand Est et Labex CAMI<br> ''Co-encadrant : Hadrien Courtecuisse<br> ''Directeur : Bernard Bayle<br> '''Julien Garnon Assistance à l'injection de larges volumes du ciment 2020 (http://theses.fr/s212133)<br> La cimentoplastie extra-rachidienne est une intervention percutanée guidée par l’image qui consiste à injecter du ciment acrylique, du polymethylmétacrylate (PMMA) le plus souvent, au sein d’un os pathologique. Le but est non seulement de traiter la douleur mais aussi de renforcer la tenue mécanique de l’os notamment au niveau du bassin. Dans cet optique, le volume de ciment et la technique d’injection pourraient être des facteur prédictifs de succès du geste. Le but de ce travail est de faire un état de l’art sur la cimentoplastie extra-rachidienne, le PMMA et sur la biomécanique du bassin afin d’identifier les axes potentiels de développement de la technique. Une étude des pratiques cliniques est également réalisée. S’en suit la présentation des résultats de travaux précliniques sur l’influence du volume de ciment et de la technique d’injection d’un volume de PMMA supérieur à 10 ml. Puis 3 axes d’assistance à l’injection d’un volume de plus de 10 ml sont présentés et évalués.<br> ''Financement propre (Praticien Hospitalier)<br> ''Co-encadrante : Laurence Meylheuc<br> ''Directeur : Bernard Bayle<br> '''Maciej Bednarczyk Commande avancée des robots collaboratifs en considérant un modèle dynamique de l'interaction homme-robot 2020 (http://theses.fr/s189327) En raison de l'intérêt croissant pour l'utilisation de systèmes robotiques dans un espace de travail partagé avec des opérateurs humains, le développement de robots collaboratifs met l'interaction Homme-robot au centre des préoccupations des roboticiens. Pour cette raison, le développement de nouveaux outils de contrôle permettant la gestion des interactions est devenu un sujet de recherche important. Ainsi, la conception de solutions améliorant la dynamique d'interaction et garantissant l'intégrité de l’opérateur est d’un intérêt particulier. Dans cette thèse, plusieurs outils de contrôle pour la robotique collaborative sont proposés. Les problématiques abordées visent notamment à garantir simultanément la compliance des robots tout en gérant des contraintes, ou à modifier la dynamique d'interaction de manière sûre. L’utilisation de bio-signaux afin d’améliorer la collaboration Homme-robot est également étudiée, pour évaluer l'intention de l’utilisateur. Cet ensemble de problématiques conduit à la conception de contrôleurs dédiés. Deux preuves de concept d’applications médicales utilisant les outils proposés sont développées pour l'insertion autonome d'aiguilles en radiologie interventionnelle et pour la rééducation bimanuelle.<br> ''Financement : allocation de recherche<br> ''Co-encadrant : Hassan Omran<br> ''Directeur : Bernard Bayle<br> '''François Schmitt Perception et restitution de la raideur des tissus dans les procédures médicales et chirurgicales minimalement invasives 2019 (http://theses.fr/2019STRAD033)<br> Le contexte de cette thèse est le développement d’outils pour améliorer la perception de la raideur des tissus dans le cadre de la chirurgie laparoscopique assistée par comanipulation. Lors de procédures manuelles, cette perception est distordue, notamment par l’effet levier, conséquence des contraintes cinématiques imposées par le trocart. Cette thèse s’articule ainsi autour de deux parties. Dans une première partie, nous étudions l’effet levier et les distorsions qu’il produit dans le cadre d’un outil comanipulé. Nous y introduisons ainsi un modèle permettant l’analyse en raideur d’un outil comanipulé par un chirurgien et un robot. Sur cette base, nous développons une stratégie de compensation pour laquelle nous avons mis en place une expérience de validation. Dans une deuxième partie, nous abordons la conception d’une nouvelle architecture à cinématique RCM, intégrant structure et actionnement pour des applications de robotique légère. Nous présentons notamment une démarche de conception de systèmes origamis articulés produits à l’aide de procédés de fabrication multi-matériaux.<br> ''Financement : bourse région Alsace et Labex CAMI<br> ''Co-encadrants : Laurent Barbé, Olivier Piccin, G. Morel (ISIR)<br> ''Directeur : Bernard Bayle<br> '''Nicole Lepoutre Caractérisation et identification de l'injection de ciment orthopédique pour la vertébroplastie télé-opérée en radiologie interventionnelle 2016 (http://theses.fr/2016STRAD049)<br> La vertébroplastie percutanée est une intervention non chirurgicale et peu invasive qui consiste à injecter, sous contrôle radioscopique, un ciment orthopédique dans le corps vertébral. Malgré son efficacité, celle-ci présente quelques inconvénients non négligeables. Le premier est dû au ciment orthopédique qui est injecté pendant sa polymérisation. Au début, sa faible viscosité augmente le risque de fuite hors de la vertèbre traitée, ce qui peut provoquer de lourdes complications. Ensuite, la variation rapide de viscosité limite la durée. Le second désagrément concerne le contrôle par fluoroscopie à rayons X qui expose le praticien de manière prolongée. Ainsi, l’enjeu de ce projet est de proposer aux radiologues un nouveau système d’injection à distance avec retour d’effort sur lequel la viscosité du ciment est régulée pendant l’injection. Le développement de ces aspects permettra la radioprotection des praticiens, une réduction des risques de fuite et une durée d’injection allongée.<br> ''Financement : allocation de recherche unistra (ED MS2I)<br> ''Co-encadrantes : Laurence Meylheuc, Iuliana Bara<br> ''Directeur : Bernard Bayle<br> '''Nitish Kumar Design and development of devices for robotized needle insertion procedures 2014 (http://www.theses.fr/2014STRAD024)<br> Ces travaux de thèse apportent plusieurs contributions à la conception de dispositifs d'assistance robotisés pour la réalisation de procédures d'insertion d'aiguille sous imageur à rayons X. Partant de la tâche de positionnement et d'orientation d'une aiguille, plusieurs architectures mécaniques inédites à quatre degrés de liberté ont été proposées. Un algorithme de synthèse dimensionnelle a été conçu pour calculer les paramètres structuraux de ces mécanismes en étudiant leurs singularités, tout en tenant compte des contraintes antagonistes de compacité du système, de capacité d'actionnement et de taille d'espace de travail. Une décomposition modulaire du dispositif d'assistance a permis de proposer des solutions pour un outil dédié à l'insertion d'aiguille avec retour d'effort. Cet outil comporte un dispositif d'insertion, un système de préhension d'aiguille et un capteur d'effort spécifique pour le retour d'effort.<br> ''Financement : Carnot Santé Numérique et IHU Strasbourg<br> ''Co-encadrant : Olivier Piccin<br> ''Directeur : Bernard Bayle<br> '''Laure Esteveny Vers un actionnement sûr pour la radiologie interventionnelle robotisée 2014 (http://www.theses.fr/2014STRAD015)<br> En radiologie interventionnelle, l’assistance robotisée permet de limiter l’exposition du praticien aux rayons X et d’apporter plus de précision pour effectuer des opérations complexes. La présence de robots dans un environnement humain pose alors la question de la sécurité du patient et de l’équipe médicale, que ce soit lors d’interactions ou de manipulations. Dans cette thèse, nous nous intéressons dans un premier temps aux problématiques de sûreté. Une structure d’actionnement intrinsèquement sûre est proposée. Le prototype réalisé permet d’effectuer des tâches de positionnement en mode automatique. Parallèlement, une stratégie de guidage basée sur une approche passive est proposée. Un système à raideur variable permet d’imposer un effort résistif variable à l’utilisateur en vue de contraindre son geste. Dans une deuxième partie, nous étudions la possibilité d’intégrer de tels systèmes sur un dispositif à plusieurs degrés de liberté, répondant au problème de placement d’aiguille.<br> ''Financement : bourse région Alsace<br> ''Co-encadrant : Laurent Barbé<br> ''Directeur : Bernard Bayle<br> '''Salih Abdelaziz Développement d'un système robotique pour la radiologie interventionnelle sous IRM 2012 (http://www.theses.fr/2012STRAD034)<br> La réalisation de gestes percutanés dans l’IRM ouvre la voie à des pratiques médicales prometteuses. En revanche, l’utilisation de l’IRM reste à ce jour limitée, et ce malgré l’intérêt en terme de qualité d’image. Cela est dû principalement à l’étroitesse du tunnel et à la complexité des gestes réalisés. Pour rendre accessibles de telles pratiques, une assistance robotique semble très pertinente. Pour le concepteur, la réalisation d’un système robotisé compatible IRM n’est pas une tâche facile, étant donné l’espace disponible et la présence d’un champ magnétique intense. C'est dans ce contexte que nous avons développé un assistant robotique, MRGuide, dédié aux traitements du cancer de la prostate dans l’IRM. Il s'agit d'un manipulateur à câbles avec un actionnement déporté. Dans ce travail, de nombreuses contributions menant à la réalisation de ce prototypes ont présentées. Parmi celles‐ci, une instrumentation originale pour estimer la tension des câbles est proposée. Cette instrumentation est basée sur l’utilisation d’une structure en treillis, de mécanismes compliants et de capteurs de déplacement à technologie optique pour assurer la compatibilité avec le scanner. Pour optimiser la géométrie du robot et faciliter son intégration dans l'IRM, une démarche de conception des robots à câbles instrumentés est développée. Cette démarche est basée sur une approche par intervalles. D'autres contributions relatives à la caractérisation de l'espace de travail des robots à câbles instrumentés, à l'étalonnage des capteurs de tension et au développement d'une stratégie de commande adaptée au dispositif sont décrites.<br> ''Financement : allocation de recherche unistra (ED MS2I) <br> ''Co-encadrant : Pierre Renaud<br> ''Directeur : Michel de Mathelin<br> '''Mathieu Joinie-Maurin Téléchirurgie robotisée au contact d'organes mobiles 2012 (http://www.theses.fr/2012STRAD017)<br> Dans les procédures médicales et chirurgicales robotisées un des problèmes principaux vient des mouvements physiologiques du patient et de ses organes. En particulier, les mouvements liés à la respiration peuvent avoir une grande amplitude et donc perturber considérablement la réalisation de gestes précis et sûrs. Pour un robot interagissant avec un patient, il est donc naturel d'envisager une compensation de ces mouvements, notamment respiratoires. Dans l'état actuel des connaissances, différentes expériences de compensation active de mouvement ont été proposées et réalisées avec succès. Dans l'équipe AVR, nous avons démontré la faisabilité d'une compensation active des mouvements physiologiques par asservissement visuel, dans le cas des mouvements respiratoires, puis de mouvements cardiaques.<br> La superposition d'un geste médical exécuté par un robot à cette compensation active a été proposée récemment. Les travaux existant dans le domaine restent pourtant très limités. En particulier l'interaction robot-patient avec prise en compte des efforts demeure un sujet ouvert à ce jour. Différents problèmes se posent dans le cadre d'une telle procédure : i) la mesure d'effort et la séparation des composantes de l'effort liées à la respiration de celles liées à l'interaction outil-organe ; ii) la définition d'une loi de commande au contact combinant les informations obtenues à l'aide d'une caméra avec celles obtenues avec le capteur d'effort ; iii) l'implantation d'une telle loi de commande dans un schéma de téléopération avec retour d'effort. La résolution de ce problème permettrait au praticien d'effectuer un geste chirurgical en percevant les interactions avec les organes, tout en observant sur son écran une scène quasi immobile, et donc dans laquelle il est plus facile d'accomplir les gestes.<br> ''Financement : Bourse doctorant CNRS (ex BDI) et région Alsace<br> ''Directeur : Jacques Gangloff<br> '''Ahmed Ayadi Injection automatique dans le petit animal guidée par vision 2008 (http://www.theses.fr/2008STR13065)<br> L’objectif de ce travail de thèse est la conception et le développement d’un système d’insertion robotisée d’aiguille pour le petit animal. Le dispositif proposé se compose d’un scanner à rayons X, d’un robot et d’un système de vision. Dans le protocole proposé, l’animal attaché à son lit, est passé au scanner afin d’acquérir son modèle CT. Le biologiste définit alors l’étape d’insertion en choisissant deux points dans les données CT : le point d’entrée au niveau de la peau et la cible à atteindre. Ensuite, l’animal et son lit sont déplacés hors du scanner et placés devant le robot. Ce protocole nécessite deux recalages. Le premier permet d’identifier la position de l’animal par rapport au robot suite à son déplacement. Ainsi, les deux points choisis par le biologiste dans les images scanner peuvent être définis dans le repère du robot. La solution proposée est basée sur la projection de lumière structurée sur une cible de recalage. Cette dernière est identifiée également dans les images scanner. Le deuxième recalage consiste à positionner et orienter d’une manière automatique et précise l’aiguille par rapport à la cible. Les deux méthodes proposées sont indépendantes du modèle d’aiguille et de sa fixation au robot. La première méthode proposée est basée sur la création d’une mire virtuelle obtenue suite au déplacement du robot avec un pas fixe et suite à l’extraction de l’aiguille dans l’image caméra. Cette solution conduit à une procédure longue, dont la précision n’a pas été jugée suffisante. La seconde approche proposée est basée sur l’asservissement visuel 2D stéréoscopique. Les paramètres visuels sont extraits directement des images de l’aiguille et tiennent compte de leur redondance. Les premiers tests effectués montrent une précision inférieure à 1 mm et 0,05 rad pour le positionnement de l’aiguille.<br> ''Financement : Bourse région Alsace + IRCAD<br> ''Directeurs : Pierre Graebling, Jacques Gangloff<br> '''Cyrille Lebossé Stimulation magnétique transcrânienne robotisée guidée par imagerie médicale 2008 (http://www.theses.fr/2008STR13046)<br> Ce projet a pour but de concevoir un système robotique dédié à la Stimulation Magnétique Transcrânienne (SMT) guidée par imagerie. La SMT est une technique non-invasive qui se développe de plus en plus pour le traitement de pathologies importantes comme la dépression nerveuse ou les troubles obsessionnels compulsifs. Ce traitement nécessite le déplacement et l’orientation de manière précise d’une sonde électromagnétique à la surface du crâne, afin de produire l’excitation requise des sillons corticaux cibles. Les régions cibles et la trajectoire que devra suivre la sonde sont déterminées au préalable sur une reconstruction 3D du cerveau à partir d’images IRM. A l’heure actuelle, le déplacement de la sonde est effectué manuellement par le médecin grâce à l’utilisation d’un système de neuro-navigation, ce qui rend très difficile la mise en place d’une évaluation clinique rigoureuse des bienfaits de la SMT. Ce projet vise ainsi à réaliser un système robotique, ainsi que sa commande, capable de remplacer le neurologue durant une séance de SMT, tout en garantissant la sécurité et la précision requises par un traitement médical automatique de ce type.<br> ''Financement : allocation de recherche unistra (ED MS2I)<br> ''Co-encadrant : Pierre Renaud<br> ''Directeur : Michel de Mathelin<br> '''Laurent Barbé Téléopération avec retour d'efforts pour les interventions percutanées 2007 (http://www.theses.fr/2007STR13082)<br> La radiologie interventionnelle est une technique chirurgicale minimallement invasive qui permet d'atteindre des organes à traiter avec des aiguilles, guidées à partir d'images scanner. Bien que cette technique offre de nombreux avantages, l'exposition aux rayons X qu'elle occasionne est nocive pour le radiologue. Pour résoudre ce problème, nousavons développé un système de téléopération avec retour d'efforts. Son cahier des charges a été établi à partir d'expériences in-vivo, qui ont notamment conduit à la modélisation des forces lors d'une insertion. Le système développé répond aux contraintes liées à l'utilisation des rayons X et aux besoins des praticiens. Une étude approfondies a permis de déterminer la commande bilatérale la mieux adaptée à l'application. Pour améliorer la perception des efforts, deux approches ont été étudiées. La première est une synthèse automatique de la commande en effort côté maître. La seconde vise à accroître la sensation de passage entre les tissus.<br> ''Financement : BDI/région Alsace<br> ''Directeur : Michel de Mathelin<br> '''Benjamin Maurin Conception et réalisation d’un robot d’insertion d’aiguille pour les procédures percutanées sous imageur scanner 2005 (http://www.theses.fr/2005STR13211)<br> Les interventions radiologiques percutanées consistent en l'insertion d'aiguilles dans le corps d'un patient afin d'atteindre des cibles anatomiques particulières telles que des tumeurs. Ces procédures, nécessitant une grande précision, obligent le radiologue à surveiller l'insertion des aiguilles en utilisant des dispositifs d'imagerie temps-réel tels que les scanners tomographiques à rayons X. Actuellement, ces procédures sont coûteuses en temps, ont une précision de l'ordre du centimètres, et surtout exposent le radiologue à des doses considérables de rayons X. La robotique permet de remplacer le bras du radiologue dans la phase d'insertion d'une aiguille sous contrôle scanner. La robotisation a l'avantage de protéger le praticien, tout en offrant des possibilités supplémentaires de navigation, de guidage, et donc de précision. Nous avons construit un robot compatible mécaniquement à ce type d'opération. La commande du robot est éffectuée par un PC sous en environnement temps-réel. Le robot utilise des moteurs piézo-électriques, et une planification de trajectoire avec évitemment des auto-collisions. La boucle de retour se fait principalement par le chirurgien, selon une structure 'Maître-esclave'. Pour assurer un positionnement fiable par asservissement en position, nous estimons la position du robot dans le repère de l'image afin d'obtenir des consignes en position et en orientation de l'aiguille. Cette estimation de pose 3D utilise le principe de la stéréotaxie à des marqueurs tridimensionnels.<br> ''Financement : Bourse région Alsace<br> ''Directeur : Michel de Mathelin<br> ba622914bf51ac1c3d5566faf2fd605b7950c0ec 522 521 2024-05-20T15:42:09Z Bernard.bayle 5 wikitext text/x-wiki '''Dylan Meckes Apprentissage par renforcement pour la commande en Impédance Variable avec des garanties de sécurité 2026 (https://theses.fr/s368880)<br> ''Financement : ANR JCJC VICHI (Hassan Omran, Commande en impédance variable pour la stabilité des Interactions Homme-Robot) <br> ''Co-encadrant : Hassan Omran<br> ''Directeurs : Bernard Bayle<br> '''Cléa Sieffert Etude patient-spécifique de la restauration mécanique par cimentoplastie avec vissage en oncologie du bassin 2025 (https://theses.fr/s350203)<br> ''Financement : bourse ITI HEalthTech, ED MSII<br> ''Co-encadrant : Laurence Meylheuc<br> ''Directeurs : Julien Garnon, Bernard Bayle<br> '''Fadi Alyousef Almasalmah Sécurité des gestes chirurgicaux télé-opérés à retour d'effort 2025 (http://theses.fr/s301883)<br> ''Financement : bourse région Grand Est et Labex CAMI<br> ''Co-encadrant : Hassan Omran, Chao Liu (LIRMM)<br> ''Directeurs : Bernard Bayle, Florent Nageotte<br> '''Guillaume Lods Planning and control algorithms for continuum robots 2024 (https://www.theses.fr/s298750)<br> ''Financement : ANR JCJC MACROS (Benoit Rosa, Robots continus multi-actionnés pour la chirugie mini-invasive)<br> ''Co-encadrant : Benoit Rosa<br> ''Directeurs : Bernard Bayle, Florent Nageotte<br> '''Thibault Poignonec Commande partagée pour la télémanipulation en chirurgie minimalement invasive 2022 (http://www.theses.fr/s270395)<br> Dans cette thèse, nous développons des stratégies d'assistance à la chirurgie minimalement invasive robotisée et plus précisément à la coelioscopie et à l'endoscopie flexible. Différents défis rendent l'exécution automatique de tâches complexes en MIS : d'une part, l'environnement est non structuré et déformable ; d'autre part, les capteurs extéroceptifs sont limités et leur mesure parfois indisponible. De plus, les outils chirurgicaux utilisés sont souvent flexibles, ce qui rend leur positionnement précis compliqué. Dans la première partie de ce document, nous présentons de nouvelles approches pour réaliser l'identification en ligne du modèle du jeu mécanique présent dans les transmissions à câble utilisées par les endoscopes flexibles. Le jeu dans les transmissions à câbles dégrade la précision du positionnement en boucle ouverte et augmente la charge cognitive du praticien qui devra le compenser. Cependant, sa compensation par la commande nécessite une identification précise du modèle, qui devrait idéalement être effectuée in-situ, c'est-à-dire juste avant ou durant la procédure chirurgicale. Nous proposons plusieurs méthodes qui peuvent être appliquées à différentes architectures de robots et dans différents scénarios pertinents pour des applications médicales. Les algorithmes sont évalués à travers des simulations et évalués expérimentalement sur une plateforme endoscopique robotisée. Dans une seconde partie, nous étudions l'apprentissage en ligne des paramètres des modèles de la tâche et du robot afin de générer une assistance à l'opérateur qui pourra s'améliorer en cours d'utilisation. Nous considérons le cas du guidage haptique lors de la téléopération à distance d'un robot, un scénario classique en robotique chirurgicale. Dans ce contexte, nous évitons d'être dépendant de capteurs extéroceptifs et exploitons la présence de l'opérateur pour extraire les informations nécessaires à l'apprentissage. Les algorithmes que nous proposons sont évalués dans différents scénarios télérobotiques simulés et réels, démontrant l'applicabilité des méthodes aux problèmes d'apprentissage en ligne pour l'assistance à la téléopération.''Financement : bourse région Grand Est et Labex CAMI<br> ''Co-encadrant : Nabil Zemitti (LIRMM)<br> ''Directeurs : Bernard Bayle, Florent Nageotte<br> '''Paul Baksic Assistance robotique aux procédures percutanées chirurgicales dans les systèmes déformables 2024 (http://theses.fr/s270293)<br> Le traitement percutané par radiologie interventionnelle est indiqué pour les tumeurs hépatiques de tailles inférieures à 3 cm. Cela consiste en l’utilisation d’aiguilles par des radiologues pour atteindre les tissus cancéreux, ce qui requiert une grande maîtrise technique. Or, l’efficacité du geste dépend de la précision de ciblage alors que l’interaction aiguille-tissu induit des déformations non-triviales et que le radiologue ne voit pas ce qu’il fait directement. Cette thèse propose un outil d'assistance robotique aux procédures percutanées centré autour du praticien afin de réduire le niveau technique requis. Une méthode d'insertion automatique calculant une référence robotique permettant de compenser le couplage-aiguille tissu ainsi que les perturbations externes à l'aide d'une simulation inverse par éléments finis exécutée en temps-réel est d'abord proposée. Le partage de la commande associant les décisions du praticien à la commande automatique est ensuite abordé. Ces deux contributions sont évaluées dans le cadre d'expériences dans des tissus simulés dans un premier temps, puis dans un fantôme du foie dans un second temps. Pour cela, un dispositif expérimental est mis en place et évalué. ''Financement : bourse région Grand Est et Labex CAMI<br> ''Co-encadrant : Hadrien Courtecuisse<br> ''Directeur : Bernard Bayle<br> '''Julien Garnon Assistance à l'injection de larges volumes du ciment 2020 (http://theses.fr/s212133)<br> La cimentoplastie extra-rachidienne est une intervention percutanée guidée par l’image qui consiste à injecter du ciment acrylique, du polymethylmétacrylate (PMMA) le plus souvent, au sein d’un os pathologique. Le but est non seulement de traiter la douleur mais aussi de renforcer la tenue mécanique de l’os notamment au niveau du bassin. Dans cet optique, le volume de ciment et la technique d’injection pourraient être des facteur prédictifs de succès du geste. Le but de ce travail est de faire un état de l’art sur la cimentoplastie extra-rachidienne, le PMMA et sur la biomécanique du bassin afin d’identifier les axes potentiels de développement de la technique. Une étude des pratiques cliniques est également réalisée. S’en suit la présentation des résultats de travaux précliniques sur l’influence du volume de ciment et de la technique d’injection d’un volume de PMMA supérieur à 10 ml. Puis 3 axes d’assistance à l’injection d’un volume de plus de 10 ml sont présentés et évalués.<br> ''Financement propre (Praticien Hospitalier)<br> ''Co-encadrante : Laurence Meylheuc<br> ''Directeur : Bernard Bayle<br> '''Maciej Bednarczyk Commande avancée des robots collaboratifs en considérant un modèle dynamique de l'interaction homme-robot 2020 (http://theses.fr/s189327) En raison de l'intérêt croissant pour l'utilisation de systèmes robotiques dans un espace de travail partagé avec des opérateurs humains, le développement de robots collaboratifs met l'interaction Homme-robot au centre des préoccupations des roboticiens. Pour cette raison, le développement de nouveaux outils de contrôle permettant la gestion des interactions est devenu un sujet de recherche important. Ainsi, la conception de solutions améliorant la dynamique d'interaction et garantissant l'intégrité de l’opérateur est d’un intérêt particulier. Dans cette thèse, plusieurs outils de contrôle pour la robotique collaborative sont proposés. Les problématiques abordées visent notamment à garantir simultanément la compliance des robots tout en gérant des contraintes, ou à modifier la dynamique d'interaction de manière sûre. L’utilisation de bio-signaux afin d’améliorer la collaboration Homme-robot est également étudiée, pour évaluer l'intention de l’utilisateur. Cet ensemble de problématiques conduit à la conception de contrôleurs dédiés. Deux preuves de concept d’applications médicales utilisant les outils proposés sont développées pour l'insertion autonome d'aiguilles en radiologie interventionnelle et pour la rééducation bimanuelle.<br> ''Financement : allocation de recherche<br> ''Co-encadrant : Hassan Omran<br> ''Directeur : Bernard Bayle<br> '''François Schmitt Perception et restitution de la raideur des tissus dans les procédures médicales et chirurgicales minimalement invasives 2019 (http://theses.fr/2019STRAD033)<br> Le contexte de cette thèse est le développement d’outils pour améliorer la perception de la raideur des tissus dans le cadre de la chirurgie laparoscopique assistée par comanipulation. Lors de procédures manuelles, cette perception est distordue, notamment par l’effet levier, conséquence des contraintes cinématiques imposées par le trocart. Cette thèse s’articule ainsi autour de deux parties. Dans une première partie, nous étudions l’effet levier et les distorsions qu’il produit dans le cadre d’un outil comanipulé. Nous y introduisons ainsi un modèle permettant l’analyse en raideur d’un outil comanipulé par un chirurgien et un robot. Sur cette base, nous développons une stratégie de compensation pour laquelle nous avons mis en place une expérience de validation. Dans une deuxième partie, nous abordons la conception d’une nouvelle architecture à cinématique RCM, intégrant structure et actionnement pour des applications de robotique légère. Nous présentons notamment une démarche de conception de systèmes origamis articulés produits à l’aide de procédés de fabrication multi-matériaux.<br> ''Financement : bourse région Alsace et Labex CAMI<br> ''Co-encadrants : Laurent Barbé, Olivier Piccin, G. Morel (ISIR)<br> ''Directeur : Bernard Bayle<br> '''Nicole Lepoutre Caractérisation et identification de l'injection de ciment orthopédique pour la vertébroplastie télé-opérée en radiologie interventionnelle 2016 (http://theses.fr/2016STRAD049)<br> La vertébroplastie percutanée est une intervention non chirurgicale et peu invasive qui consiste à injecter, sous contrôle radioscopique, un ciment orthopédique dans le corps vertébral. Malgré son efficacité, celle-ci présente quelques inconvénients non négligeables. Le premier est dû au ciment orthopédique qui est injecté pendant sa polymérisation. Au début, sa faible viscosité augmente le risque de fuite hors de la vertèbre traitée, ce qui peut provoquer de lourdes complications. Ensuite, la variation rapide de viscosité limite la durée. Le second désagrément concerne le contrôle par fluoroscopie à rayons X qui expose le praticien de manière prolongée. Ainsi, l’enjeu de ce projet est de proposer aux radiologues un nouveau système d’injection à distance avec retour d’effort sur lequel la viscosité du ciment est régulée pendant l’injection. Le développement de ces aspects permettra la radioprotection des praticiens, une réduction des risques de fuite et une durée d’injection allongée.<br> ''Financement : allocation de recherche unistra (ED MS2I)<br> ''Co-encadrantes : Laurence Meylheuc, Iuliana Bara<br> ''Directeur : Bernard Bayle<br> '''Nitish Kumar Design and development of devices for robotized needle insertion procedures 2014 (http://www.theses.fr/2014STRAD024)<br> Ces travaux de thèse apportent plusieurs contributions à la conception de dispositifs d'assistance robotisés pour la réalisation de procédures d'insertion d'aiguille sous imageur à rayons X. Partant de la tâche de positionnement et d'orientation d'une aiguille, plusieurs architectures mécaniques inédites à quatre degrés de liberté ont été proposées. Un algorithme de synthèse dimensionnelle a été conçu pour calculer les paramètres structuraux de ces mécanismes en étudiant leurs singularités, tout en tenant compte des contraintes antagonistes de compacité du système, de capacité d'actionnement et de taille d'espace de travail. Une décomposition modulaire du dispositif d'assistance a permis de proposer des solutions pour un outil dédié à l'insertion d'aiguille avec retour d'effort. Cet outil comporte un dispositif d'insertion, un système de préhension d'aiguille et un capteur d'effort spécifique pour le retour d'effort.<br> ''Financement : Carnot Santé Numérique et IHU Strasbourg<br> ''Co-encadrant : Olivier Piccin<br> ''Directeur : Bernard Bayle<br> '''Laure Esteveny Vers un actionnement sûr pour la radiologie interventionnelle robotisée 2014 (http://www.theses.fr/2014STRAD015)<br> En radiologie interventionnelle, l’assistance robotisée permet de limiter l’exposition du praticien aux rayons X et d’apporter plus de précision pour effectuer des opérations complexes. La présence de robots dans un environnement humain pose alors la question de la sécurité du patient et de l’équipe médicale, que ce soit lors d’interactions ou de manipulations. Dans cette thèse, nous nous intéressons dans un premier temps aux problématiques de sûreté. Une structure d’actionnement intrinsèquement sûre est proposée. Le prototype réalisé permet d’effectuer des tâches de positionnement en mode automatique. Parallèlement, une stratégie de guidage basée sur une approche passive est proposée. Un système à raideur variable permet d’imposer un effort résistif variable à l’utilisateur en vue de contraindre son geste. Dans une deuxième partie, nous étudions la possibilité d’intégrer de tels systèmes sur un dispositif à plusieurs degrés de liberté, répondant au problème de placement d’aiguille.<br> ''Financement : bourse région Alsace<br> ''Co-encadrant : Laurent Barbé<br> ''Directeur : Bernard Bayle<br> '''Salih Abdelaziz Développement d'un système robotique pour la radiologie interventionnelle sous IRM 2012 (http://www.theses.fr/2012STRAD034)<br> La réalisation de gestes percutanés dans l’IRM ouvre la voie à des pratiques médicales prometteuses. En revanche, l’utilisation de l’IRM reste à ce jour limitée, et ce malgré l’intérêt en terme de qualité d’image. Cela est dû principalement à l’étroitesse du tunnel et à la complexité des gestes réalisés. Pour rendre accessibles de telles pratiques, une assistance robotique semble très pertinente. Pour le concepteur, la réalisation d’un système robotisé compatible IRM n’est pas une tâche facile, étant donné l’espace disponible et la présence d’un champ magnétique intense. C'est dans ce contexte que nous avons développé un assistant robotique, MRGuide, dédié aux traitements du cancer de la prostate dans l’IRM. Il s'agit d'un manipulateur à câbles avec un actionnement déporté. Dans ce travail, de nombreuses contributions menant à la réalisation de ce prototypes ont présentées. Parmi celles‐ci, une instrumentation originale pour estimer la tension des câbles est proposée. Cette instrumentation est basée sur l’utilisation d’une structure en treillis, de mécanismes compliants et de capteurs de déplacement à technologie optique pour assurer la compatibilité avec le scanner. Pour optimiser la géométrie du robot et faciliter son intégration dans l'IRM, une démarche de conception des robots à câbles instrumentés est développée. Cette démarche est basée sur une approche par intervalles. D'autres contributions relatives à la caractérisation de l'espace de travail des robots à câbles instrumentés, à l'étalonnage des capteurs de tension et au développement d'une stratégie de commande adaptée au dispositif sont décrites.<br> ''Financement : allocation de recherche unistra (ED MS2I) <br> ''Co-encadrant : Pierre Renaud<br> ''Directeur : Michel de Mathelin<br> '''Mathieu Joinie-Maurin Téléchirurgie robotisée au contact d'organes mobiles 2012 (http://www.theses.fr/2012STRAD017)<br> Dans les procédures médicales et chirurgicales robotisées un des problèmes principaux vient des mouvements physiologiques du patient et de ses organes. En particulier, les mouvements liés à la respiration peuvent avoir une grande amplitude et donc perturber considérablement la réalisation de gestes précis et sûrs. Pour un robot interagissant avec un patient, il est donc naturel d'envisager une compensation de ces mouvements, notamment respiratoires. Dans l'état actuel des connaissances, différentes expériences de compensation active de mouvement ont été proposées et réalisées avec succès. Dans l'équipe AVR, nous avons démontré la faisabilité d'une compensation active des mouvements physiologiques par asservissement visuel, dans le cas des mouvements respiratoires, puis de mouvements cardiaques.<br> La superposition d'un geste médical exécuté par un robot à cette compensation active a été proposée récemment. Les travaux existant dans le domaine restent pourtant très limités. En particulier l'interaction robot-patient avec prise en compte des efforts demeure un sujet ouvert à ce jour. Différents problèmes se posent dans le cadre d'une telle procédure : i) la mesure d'effort et la séparation des composantes de l'effort liées à la respiration de celles liées à l'interaction outil-organe ; ii) la définition d'une loi de commande au contact combinant les informations obtenues à l'aide d'une caméra avec celles obtenues avec le capteur d'effort ; iii) l'implantation d'une telle loi de commande dans un schéma de téléopération avec retour d'effort. La résolution de ce problème permettrait au praticien d'effectuer un geste chirurgical en percevant les interactions avec les organes, tout en observant sur son écran une scène quasi immobile, et donc dans laquelle il est plus facile d'accomplir les gestes.<br> ''Financement : Bourse doctorant CNRS (ex BDI) et région Alsace<br> ''Directeur : Jacques Gangloff<br> '''Ahmed Ayadi Injection automatique dans le petit animal guidée par vision 2008 (http://www.theses.fr/2008STR13065)<br> L’objectif de ce travail de thèse est la conception et le développement d’un système d’insertion robotisée d’aiguille pour le petit animal. Le dispositif proposé se compose d’un scanner à rayons X, d’un robot et d’un système de vision. Dans le protocole proposé, l’animal attaché à son lit, est passé au scanner afin d’acquérir son modèle CT. Le biologiste définit alors l’étape d’insertion en choisissant deux points dans les données CT : le point d’entrée au niveau de la peau et la cible à atteindre. Ensuite, l’animal et son lit sont déplacés hors du scanner et placés devant le robot. Ce protocole nécessite deux recalages. Le premier permet d’identifier la position de l’animal par rapport au robot suite à son déplacement. Ainsi, les deux points choisis par le biologiste dans les images scanner peuvent être définis dans le repère du robot. La solution proposée est basée sur la projection de lumière structurée sur une cible de recalage. Cette dernière est identifiée également dans les images scanner. Le deuxième recalage consiste à positionner et orienter d’une manière automatique et précise l’aiguille par rapport à la cible. Les deux méthodes proposées sont indépendantes du modèle d’aiguille et de sa fixation au robot. La première méthode proposée est basée sur la création d’une mire virtuelle obtenue suite au déplacement du robot avec un pas fixe et suite à l’extraction de l’aiguille dans l’image caméra. Cette solution conduit à une procédure longue, dont la précision n’a pas été jugée suffisante. La seconde approche proposée est basée sur l’asservissement visuel 2D stéréoscopique. Les paramètres visuels sont extraits directement des images de l’aiguille et tiennent compte de leur redondance. Les premiers tests effectués montrent une précision inférieure à 1 mm et 0,05 rad pour le positionnement de l’aiguille.<br> ''Financement : Bourse région Alsace + IRCAD<br> ''Directeurs : Pierre Graebling, Jacques Gangloff<br> '''Cyrille Lebossé Stimulation magnétique transcrânienne robotisée guidée par imagerie médicale 2008 (http://www.theses.fr/2008STR13046)<br> Ce projet a pour but de concevoir un système robotique dédié à la Stimulation Magnétique Transcrânienne (SMT) guidée par imagerie. La SMT est une technique non-invasive qui se développe de plus en plus pour le traitement de pathologies importantes comme la dépression nerveuse ou les troubles obsessionnels compulsifs. Ce traitement nécessite le déplacement et l’orientation de manière précise d’une sonde électromagnétique à la surface du crâne, afin de produire l’excitation requise des sillons corticaux cibles. Les régions cibles et la trajectoire que devra suivre la sonde sont déterminées au préalable sur une reconstruction 3D du cerveau à partir d’images IRM. A l’heure actuelle, le déplacement de la sonde est effectué manuellement par le médecin grâce à l’utilisation d’un système de neuro-navigation, ce qui rend très difficile la mise en place d’une évaluation clinique rigoureuse des bienfaits de la SMT. Ce projet vise ainsi à réaliser un système robotique, ainsi que sa commande, capable de remplacer le neurologue durant une séance de SMT, tout en garantissant la sécurité et la précision requises par un traitement médical automatique de ce type.<br> ''Financement : allocation de recherche unistra (ED MS2I)<br> ''Co-encadrant : Pierre Renaud<br> ''Directeur : Michel de Mathelin<br> '''Laurent Barbé Téléopération avec retour d'efforts pour les interventions percutanées 2007 (http://www.theses.fr/2007STR13082)<br> La radiologie interventionnelle est une technique chirurgicale minimallement invasive qui permet d'atteindre des organes à traiter avec des aiguilles, guidées à partir d'images scanner. Bien que cette technique offre de nombreux avantages, l'exposition aux rayons X qu'elle occasionne est nocive pour le radiologue. Pour résoudre ce problème, nousavons développé un système de téléopération avec retour d'efforts. Son cahier des charges a été établi à partir d'expériences in-vivo, qui ont notamment conduit à la modélisation des forces lors d'une insertion. Le système développé répond aux contraintes liées à l'utilisation des rayons X et aux besoins des praticiens. Une étude approfondies a permis de déterminer la commande bilatérale la mieux adaptée à l'application. Pour améliorer la perception des efforts, deux approches ont été étudiées. La première est une synthèse automatique de la commande en effort côté maître. La seconde vise à accroître la sensation de passage entre les tissus.<br> ''Financement : BDI/région Alsace<br> ''Directeur : Michel de Mathelin<br> '''Benjamin Maurin Conception et réalisation d’un robot d’insertion d’aiguille pour les procédures percutanées sous imageur scanner 2005 (http://www.theses.fr/2005STR13211)<br> Les interventions radiologiques percutanées consistent en l'insertion d'aiguilles dans le corps d'un patient afin d'atteindre des cibles anatomiques particulières telles que des tumeurs. Ces procédures, nécessitant une grande précision, obligent le radiologue à surveiller l'insertion des aiguilles en utilisant des dispositifs d'imagerie temps-réel tels que les scanners tomographiques à rayons X. Actuellement, ces procédures sont coûteuses en temps, ont une précision de l'ordre du centimètres, et surtout exposent le radiologue à des doses considérables de rayons X. La robotique permet de remplacer le bras du radiologue dans la phase d'insertion d'une aiguille sous contrôle scanner. La robotisation a l'avantage de protéger le praticien, tout en offrant des possibilités supplémentaires de navigation, de guidage, et donc de précision. Nous avons construit un robot compatible mécaniquement à ce type d'opération. La commande du robot est éffectuée par un PC sous en environnement temps-réel. Le robot utilise des moteurs piézo-électriques, et une planification de trajectoire avec évitemment des auto-collisions. La boucle de retour se fait principalement par le chirurgien, selon une structure 'Maître-esclave'. Pour assurer un positionnement fiable par asservissement en position, nous estimons la position du robot dans le repère de l'image afin d'obtenir des consignes en position et en orientation de l'aiguille. Cette estimation de pose 3D utilise le principe de la stéréotaxie à des marqueurs tridimensionnels.<br> ''Financement : Bourse région Alsace<br> ''Directeur : Michel de Mathelin<br> 8fae9c1956afbea0da2b945e26553493788208b3 523 522 2024-05-20T15:43:42Z Bernard.bayle 5 wikitext text/x-wiki '''Dylan Meckes Apprentissage par renforcement pour la commande en Impédance Variable avec des garanties de sécurité 2026 (https://theses.fr/s368880)<br> ''Financement : ANR JCJC VICHI (Hassan Omran, Commande en impédance variable pour la stabilité des Interactions Homme-Robot) <br> ''Co-encadrant : Hassan Omran<br> ''Directeurs : Bernard Bayle<br> '''Cléa Sieffert Etude patient-spécifique de la restauration mécanique par cimentoplastie avec vissage en oncologie du bassin 2025 (https://theses.fr/s350203)<br> ''Financement : bourse ITI HEalthTech, ED MSII<br> ''Co-encadrant : Laurence Meylheuc<br> ''Directeurs : Julien Garnon, Bernard Bayle<br> '''Fadi Alyousef Almasalmah Sécurité des gestes chirurgicaux télé-opérés à retour d'effort 2025 (http://theses.fr/s301883)<br> ''Financement : bourse région Grand Est et Labex CAMI<br> ''Co-encadrant : Hassan Omran, Chao Liu (LIRMM)<br> ''Directeurs : Bernard Bayle, Florent Nageotte<br> '''Guillaume Lods Planning and control algorithms for continuum robots 2024 (https://www.theses.fr/s298750)<br> ''Financement : ANR JCJC MACROS (Benoit Rosa, Robots continus multi-actionnés pour la chirugie mini-invasive)<br> ''Co-encadrant : Benoit Rosa<br> ''Directeurs : Bernard Bayle, Florent Nageotte<br> '''14. Thibault Poignonec Commande partagée pour la télémanipulation en chirurgie minimalement invasive 2022 (http://www.theses.fr/s270395)<br> Dans cette thèse, nous développons des stratégies d'assistance à la chirurgie minimalement invasive robotisée et plus précisément à la coelioscopie et à l'endoscopie flexible. Différents défis rendent l'exécution automatique de tâches complexes en MIS : d'une part, l'environnement est non structuré et déformable ; d'autre part, les capteurs extéroceptifs sont limités et leur mesure parfois indisponible. De plus, les outils chirurgicaux utilisés sont souvent flexibles, ce qui rend leur positionnement précis compliqué. Dans la première partie de ce document, nous présentons de nouvelles approches pour réaliser l'identification en ligne du modèle du jeu mécanique présent dans les transmissions à câble utilisées par les endoscopes flexibles. Le jeu dans les transmissions à câbles dégrade la précision du positionnement en boucle ouverte et augmente la charge cognitive du praticien qui devra le compenser. Cependant, sa compensation par la commande nécessite une identification précise du modèle, qui devrait idéalement être effectuée in-situ, c'est-à-dire juste avant ou durant la procédure chirurgicale. Nous proposons plusieurs méthodes qui peuvent être appliquées à différentes architectures de robots et dans différents scénarios pertinents pour des applications médicales. Les algorithmes sont évalués à travers des simulations et évalués expérimentalement sur une plateforme endoscopique robotisée. Dans une seconde partie, nous étudions l'apprentissage en ligne des paramètres des modèles de la tâche et du robot afin de générer une assistance à l'opérateur qui pourra s'améliorer en cours d'utilisation. Nous considérons le cas du guidage haptique lors de la téléopération à distance d'un robot, un scénario classique en robotique chirurgicale. Dans ce contexte, nous évitons d'être dépendant de capteurs extéroceptifs et exploitons la présence de l'opérateur pour extraire les informations nécessaires à l'apprentissage. Les algorithmes que nous proposons sont évalués dans différents scénarios télérobotiques simulés et réels, démontrant l'applicabilité des méthodes aux problèmes d'apprentissage en ligne pour l'assistance à la téléopération.''Financement : bourse région Grand Est et Labex CAMI<br> ''Co-encadrant : Nabil Zemitti (LIRMM)<br> ''Directeurs : Bernard Bayle, Florent Nageotte<br> '''13. Paul Baksic Assistance robotique aux procédures percutanées chirurgicales dans les systèmes déformables 2024 (http://theses.fr/s270293)<br> Le traitement percutané par radiologie interventionnelle est indiqué pour les tumeurs hépatiques de tailles inférieures à 3 cm. Cela consiste en l’utilisation d’aiguilles par des radiologues pour atteindre les tissus cancéreux, ce qui requiert une grande maîtrise technique. Or, l’efficacité du geste dépend de la précision de ciblage alors que l’interaction aiguille-tissu induit des déformations non-triviales et que le radiologue ne voit pas ce qu’il fait directement. Cette thèse propose un outil d'assistance robotique aux procédures percutanées centré autour du praticien afin de réduire le niveau technique requis. Une méthode d'insertion automatique calculant une référence robotique permettant de compenser le couplage-aiguille tissu ainsi que les perturbations externes à l'aide d'une simulation inverse par éléments finis exécutée en temps-réel est d'abord proposée. Le partage de la commande associant les décisions du praticien à la commande automatique est ensuite abordé. Ces deux contributions sont évaluées dans le cadre d'expériences dans des tissus simulés dans un premier temps, puis dans un fantôme du foie dans un second temps. Pour cela, un dispositif expérimental est mis en place et évalué. ''Financement : bourse région Grand Est et Labex CAMI<br> ''Co-encadrant : Hadrien Courtecuisse<br> ''Directeur : Bernard Bayle<br> '''12. Julien Garnon Assistance à l'injection de larges volumes du ciment 2020 (http://theses.fr/s212133)<br> La cimentoplastie extra-rachidienne est une intervention percutanée guidée par l’image qui consiste à injecter du ciment acrylique, du polymethylmétacrylate (PMMA) le plus souvent, au sein d’un os pathologique. Le but est non seulement de traiter la douleur mais aussi de renforcer la tenue mécanique de l’os notamment au niveau du bassin. Dans cet optique, le volume de ciment et la technique d’injection pourraient être des facteur prédictifs de succès du geste. Le but de ce travail est de faire un état de l’art sur la cimentoplastie extra-rachidienne, le PMMA et sur la biomécanique du bassin afin d’identifier les axes potentiels de développement de la technique. Une étude des pratiques cliniques est également réalisée. S’en suit la présentation des résultats de travaux précliniques sur l’influence du volume de ciment et de la technique d’injection d’un volume de PMMA supérieur à 10 ml. Puis 3 axes d’assistance à l’injection d’un volume de plus de 10 ml sont présentés et évalués.<br> ''Financement propre (Praticien Hospitalier)<br> ''Co-encadrante : Laurence Meylheuc<br> ''Directeur : Bernard Bayle<br> '''11. Maciej Bednarczyk Commande avancée des robots collaboratifs en considérant un modèle dynamique de l'interaction homme-robot 2020 (http://theses.fr/s189327) En raison de l'intérêt croissant pour l'utilisation de systèmes robotiques dans un espace de travail partagé avec des opérateurs humains, le développement de robots collaboratifs met l'interaction Homme-robot au centre des préoccupations des roboticiens. Pour cette raison, le développement de nouveaux outils de contrôle permettant la gestion des interactions est devenu un sujet de recherche important. Ainsi, la conception de solutions améliorant la dynamique d'interaction et garantissant l'intégrité de l’opérateur est d’un intérêt particulier. Dans cette thèse, plusieurs outils de contrôle pour la robotique collaborative sont proposés. Les problématiques abordées visent notamment à garantir simultanément la compliance des robots tout en gérant des contraintes, ou à modifier la dynamique d'interaction de manière sûre. L’utilisation de bio-signaux afin d’améliorer la collaboration Homme-robot est également étudiée, pour évaluer l'intention de l’utilisateur. Cet ensemble de problématiques conduit à la conception de contrôleurs dédiés. Deux preuves de concept d’applications médicales utilisant les outils proposés sont développées pour l'insertion autonome d'aiguilles en radiologie interventionnelle et pour la rééducation bimanuelle.<br> ''Financement : allocation de recherche<br> ''Co-encadrant : Hassan Omran<br> ''Directeur : Bernard Bayle<br> '''10. François Schmitt Perception et restitution de la raideur des tissus dans les procédures médicales et chirurgicales minimalement invasives 2019 (http://theses.fr/2019STRAD033)<br> Le contexte de cette thèse est le développement d’outils pour améliorer la perception de la raideur des tissus dans le cadre de la chirurgie laparoscopique assistée par comanipulation. Lors de procédures manuelles, cette perception est distordue, notamment par l’effet levier, conséquence des contraintes cinématiques imposées par le trocart. Cette thèse s’articule ainsi autour de deux parties. Dans une première partie, nous étudions l’effet levier et les distorsions qu’il produit dans le cadre d’un outil comanipulé. Nous y introduisons ainsi un modèle permettant l’analyse en raideur d’un outil comanipulé par un chirurgien et un robot. Sur cette base, nous développons une stratégie de compensation pour laquelle nous avons mis en place une expérience de validation. Dans une deuxième partie, nous abordons la conception d’une nouvelle architecture à cinématique RCM, intégrant structure et actionnement pour des applications de robotique légère. Nous présentons notamment une démarche de conception de systèmes origamis articulés produits à l’aide de procédés de fabrication multi-matériaux.<br> ''Financement : bourse région Alsace et Labex CAMI<br> ''Co-encadrants : Laurent Barbé, Olivier Piccin, G. Morel (ISIR)<br> ''Directeur : Bernard Bayle<br> '''9. Nicole Lepoutre Caractérisation et identification de l'injection de ciment orthopédique pour la vertébroplastie télé-opérée en radiologie interventionnelle 2016 (http://theses.fr/2016STRAD049)<br> La vertébroplastie percutanée est une intervention non chirurgicale et peu invasive qui consiste à injecter, sous contrôle radioscopique, un ciment orthopédique dans le corps vertébral. Malgré son efficacité, celle-ci présente quelques inconvénients non négligeables. Le premier est dû au ciment orthopédique qui est injecté pendant sa polymérisation. Au début, sa faible viscosité augmente le risque de fuite hors de la vertèbre traitée, ce qui peut provoquer de lourdes complications. Ensuite, la variation rapide de viscosité limite la durée. Le second désagrément concerne le contrôle par fluoroscopie à rayons X qui expose le praticien de manière prolongée. Ainsi, l’enjeu de ce projet est de proposer aux radiologues un nouveau système d’injection à distance avec retour d’effort sur lequel la viscosité du ciment est régulée pendant l’injection. Le développement de ces aspects permettra la radioprotection des praticiens, une réduction des risques de fuite et une durée d’injection allongée.<br> ''Financement : allocation de recherche unistra (ED MS2I)<br> ''Co-encadrantes : Laurence Meylheuc, Iuliana Bara<br> ''Directeur : Bernard Bayle<br> '''8. Nitish Kumar Design and development of devices for robotized needle insertion procedures 2014 (http://www.theses.fr/2014STRAD024)<br> Ces travaux de thèse apportent plusieurs contributions à la conception de dispositifs d'assistance robotisés pour la réalisation de procédures d'insertion d'aiguille sous imageur à rayons X. Partant de la tâche de positionnement et d'orientation d'une aiguille, plusieurs architectures mécaniques inédites à quatre degrés de liberté ont été proposées. Un algorithme de synthèse dimensionnelle a été conçu pour calculer les paramètres structuraux de ces mécanismes en étudiant leurs singularités, tout en tenant compte des contraintes antagonistes de compacité du système, de capacité d'actionnement et de taille d'espace de travail. Une décomposition modulaire du dispositif d'assistance a permis de proposer des solutions pour un outil dédié à l'insertion d'aiguille avec retour d'effort. Cet outil comporte un dispositif d'insertion, un système de préhension d'aiguille et un capteur d'effort spécifique pour le retour d'effort.<br> ''Financement : Carnot Santé Numérique et IHU Strasbourg<br> ''Co-encadrant : Olivier Piccin<br> ''Directeur : Bernard Bayle<br> '''7. Laure Esteveny Vers un actionnement sûr pour la radiologie interventionnelle robotisée 2014 (http://www.theses.fr/2014STRAD015)<br> En radiologie interventionnelle, l’assistance robotisée permet de limiter l’exposition du praticien aux rayons X et d’apporter plus de précision pour effectuer des opérations complexes. La présence de robots dans un environnement humain pose alors la question de la sécurité du patient et de l’équipe médicale, que ce soit lors d’interactions ou de manipulations. Dans cette thèse, nous nous intéressons dans un premier temps aux problématiques de sûreté. Une structure d’actionnement intrinsèquement sûre est proposée. Le prototype réalisé permet d’effectuer des tâches de positionnement en mode automatique. Parallèlement, une stratégie de guidage basée sur une approche passive est proposée. Un système à raideur variable permet d’imposer un effort résistif variable à l’utilisateur en vue de contraindre son geste. Dans une deuxième partie, nous étudions la possibilité d’intégrer de tels systèmes sur un dispositif à plusieurs degrés de liberté, répondant au problème de placement d’aiguille.<br> ''Financement : bourse région Alsace<br> ''Co-encadrant : Laurent Barbé<br> ''Directeur : Bernard Bayle<br> '''6. Salih Abdelaziz Développement d'un système robotique pour la radiologie interventionnelle sous IRM 2012 (http://www.theses.fr/2012STRAD034)<br> La réalisation de gestes percutanés dans l’IRM ouvre la voie à des pratiques médicales prometteuses. En revanche, l’utilisation de l’IRM reste à ce jour limitée, et ce malgré l’intérêt en terme de qualité d’image. Cela est dû principalement à l’étroitesse du tunnel et à la complexité des gestes réalisés. Pour rendre accessibles de telles pratiques, une assistance robotique semble très pertinente. Pour le concepteur, la réalisation d’un système robotisé compatible IRM n’est pas une tâche facile, étant donné l’espace disponible et la présence d’un champ magnétique intense. C'est dans ce contexte que nous avons développé un assistant robotique, MRGuide, dédié aux traitements du cancer de la prostate dans l’IRM. Il s'agit d'un manipulateur à câbles avec un actionnement déporté. Dans ce travail, de nombreuses contributions menant à la réalisation de ce prototypes ont présentées. Parmi celles‐ci, une instrumentation originale pour estimer la tension des câbles est proposée. Cette instrumentation est basée sur l’utilisation d’une structure en treillis, de mécanismes compliants et de capteurs de déplacement à technologie optique pour assurer la compatibilité avec le scanner. Pour optimiser la géométrie du robot et faciliter son intégration dans l'IRM, une démarche de conception des robots à câbles instrumentés est développée. Cette démarche est basée sur une approche par intervalles. D'autres contributions relatives à la caractérisation de l'espace de travail des robots à câbles instrumentés, à l'étalonnage des capteurs de tension et au développement d'une stratégie de commande adaptée au dispositif sont décrites.<br> ''Financement : allocation de recherche unistra (ED MS2I) <br> ''Co-encadrant : Pierre Renaud<br> ''Directeur : Michel de Mathelin<br> '''5. Mathieu Joinie-Maurin Téléchirurgie robotisée au contact d'organes mobiles 2012 (http://www.theses.fr/2012STRAD017)<br> Dans les procédures médicales et chirurgicales robotisées un des problèmes principaux vient des mouvements physiologiques du patient et de ses organes. En particulier, les mouvements liés à la respiration peuvent avoir une grande amplitude et donc perturber considérablement la réalisation de gestes précis et sûrs. Pour un robot interagissant avec un patient, il est donc naturel d'envisager une compensation de ces mouvements, notamment respiratoires. Dans l'état actuel des connaissances, différentes expériences de compensation active de mouvement ont été proposées et réalisées avec succès. Dans l'équipe AVR, nous avons démontré la faisabilité d'une compensation active des mouvements physiologiques par asservissement visuel, dans le cas des mouvements respiratoires, puis de mouvements cardiaques.<br> La superposition d'un geste médical exécuté par un robot à cette compensation active a été proposée récemment. Les travaux existant dans le domaine restent pourtant très limités. En particulier l'interaction robot-patient avec prise en compte des efforts demeure un sujet ouvert à ce jour. Différents problèmes se posent dans le cadre d'une telle procédure : i) la mesure d'effort et la séparation des composantes de l'effort liées à la respiration de celles liées à l'interaction outil-organe ; ii) la définition d'une loi de commande au contact combinant les informations obtenues à l'aide d'une caméra avec celles obtenues avec le capteur d'effort ; iii) l'implantation d'une telle loi de commande dans un schéma de téléopération avec retour d'effort. La résolution de ce problème permettrait au praticien d'effectuer un geste chirurgical en percevant les interactions avec les organes, tout en observant sur son écran une scène quasi immobile, et donc dans laquelle il est plus facile d'accomplir les gestes.<br> ''Financement : Bourse doctorant CNRS (ex BDI) et région Alsace<br> ''Directeur : Jacques Gangloff<br> '''4. Ahmed Ayadi Injection automatique dans le petit animal guidée par vision 2008 (http://www.theses.fr/2008STR13065)<br> L’objectif de ce travail de thèse est la conception et le développement d’un système d’insertion robotisée d’aiguille pour le petit animal. Le dispositif proposé se compose d’un scanner à rayons X, d’un robot et d’un système de vision. Dans le protocole proposé, l’animal attaché à son lit, est passé au scanner afin d’acquérir son modèle CT. Le biologiste définit alors l’étape d’insertion en choisissant deux points dans les données CT : le point d’entrée au niveau de la peau et la cible à atteindre. Ensuite, l’animal et son lit sont déplacés hors du scanner et placés devant le robot. Ce protocole nécessite deux recalages. Le premier permet d’identifier la position de l’animal par rapport au robot suite à son déplacement. Ainsi, les deux points choisis par le biologiste dans les images scanner peuvent être définis dans le repère du robot. La solution proposée est basée sur la projection de lumière structurée sur une cible de recalage. Cette dernière est identifiée également dans les images scanner. Le deuxième recalage consiste à positionner et orienter d’une manière automatique et précise l’aiguille par rapport à la cible. Les deux méthodes proposées sont indépendantes du modèle d’aiguille et de sa fixation au robot. La première méthode proposée est basée sur la création d’une mire virtuelle obtenue suite au déplacement du robot avec un pas fixe et suite à l’extraction de l’aiguille dans l’image caméra. Cette solution conduit à une procédure longue, dont la précision n’a pas été jugée suffisante. La seconde approche proposée est basée sur l’asservissement visuel 2D stéréoscopique. Les paramètres visuels sont extraits directement des images de l’aiguille et tiennent compte de leur redondance. Les premiers tests effectués montrent une précision inférieure à 1 mm et 0,05 rad pour le positionnement de l’aiguille.<br> ''Financement : Bourse région Alsace + IRCAD<br> ''Directeurs : Pierre Graebling, Jacques Gangloff<br> '''3. Cyrille Lebossé Stimulation magnétique transcrânienne robotisée guidée par imagerie médicale 2008 (http://www.theses.fr/2008STR13046)<br> Ce projet a pour but de concevoir un système robotique dédié à la Stimulation Magnétique Transcrânienne (SMT) guidée par imagerie. La SMT est une technique non-invasive qui se développe de plus en plus pour le traitement de pathologies importantes comme la dépression nerveuse ou les troubles obsessionnels compulsifs. Ce traitement nécessite le déplacement et l’orientation de manière précise d’une sonde électromagnétique à la surface du crâne, afin de produire l’excitation requise des sillons corticaux cibles. Les régions cibles et la trajectoire que devra suivre la sonde sont déterminées au préalable sur une reconstruction 3D du cerveau à partir d’images IRM. A l’heure actuelle, le déplacement de la sonde est effectué manuellement par le médecin grâce à l’utilisation d’un système de neuro-navigation, ce qui rend très difficile la mise en place d’une évaluation clinique rigoureuse des bienfaits de la SMT. Ce projet vise ainsi à réaliser un système robotique, ainsi que sa commande, capable de remplacer le neurologue durant une séance de SMT, tout en garantissant la sécurité et la précision requises par un traitement médical automatique de ce type.<br> ''Financement : allocation de recherche unistra (ED MS2I)<br> ''Co-encadrant : Pierre Renaud<br> ''Directeur : Michel de Mathelin<br> '''2. Laurent Barbé Téléopération avec retour d'efforts pour les interventions percutanées 2007 (http://www.theses.fr/2007STR13082)<br> La radiologie interventionnelle est une technique chirurgicale minimallement invasive qui permet d'atteindre des organes à traiter avec des aiguilles, guidées à partir d'images scanner. Bien que cette technique offre de nombreux avantages, l'exposition aux rayons X qu'elle occasionne est nocive pour le radiologue. Pour résoudre ce problème, nousavons développé un système de téléopération avec retour d'efforts. Son cahier des charges a été établi à partir d'expériences in-vivo, qui ont notamment conduit à la modélisation des forces lors d'une insertion. Le système développé répond aux contraintes liées à l'utilisation des rayons X et aux besoins des praticiens. Une étude approfondies a permis de déterminer la commande bilatérale la mieux adaptée à l'application. Pour améliorer la perception des efforts, deux approches ont été étudiées. La première est une synthèse automatique de la commande en effort côté maître. La seconde vise à accroître la sensation de passage entre les tissus.<br> ''Financement : BDI/région Alsace<br> ''Directeur : Michel de Mathelin<br> '''1. Benjamin Maurin Conception et réalisation d’un robot d’insertion d’aiguille pour les procédures percutanées sous imageur scanner 2005 (http://www.theses.fr/2005STR13211)<br> Les interventions radiologiques percutanées consistent en l'insertion d'aiguilles dans le corps d'un patient afin d'atteindre des cibles anatomiques particulières telles que des tumeurs. Ces procédures, nécessitant une grande précision, obligent le radiologue à surveiller l'insertion des aiguilles en utilisant des dispositifs d'imagerie temps-réel tels que les scanners tomographiques à rayons X. Actuellement, ces procédures sont coûteuses en temps, ont une précision de l'ordre du centimètres, et surtout exposent le radiologue à des doses considérables de rayons X. La robotique permet de remplacer le bras du radiologue dans la phase d'insertion d'une aiguille sous contrôle scanner. La robotisation a l'avantage de protéger le praticien, tout en offrant des possibilités supplémentaires de navigation, de guidage, et donc de précision. Nous avons construit un robot compatible mécaniquement à ce type d'opération. La commande du robot est éffectuée par un PC sous en environnement temps-réel. Le robot utilise des moteurs piézo-électriques, et une planification de trajectoire avec évitemment des auto-collisions. La boucle de retour se fait principalement par le chirurgien, selon une structure 'Maître-esclave'. Pour assurer un positionnement fiable par asservissement en position, nous estimons la position du robot dans le repère de l'image afin d'obtenir des consignes en position et en orientation de l'aiguille. Cette estimation de pose 3D utilise le principe de la stéréotaxie à des marqueurs tridimensionnels.<br> ''Financement : Bourse région Alsace<br> ''Directeur : Michel de Mathelin<br> 55fa99d06b1c2adf35c95ab36e73ce53e47d1614 524 523 2024-05-20T15:45:20Z Bernard.bayle 5 wikitext text/x-wiki '''18. Dylan Meckes. Apprentissage par renforcement pour la commande en Impédance Variable avec des garanties de sécurité 2026 (https://theses.fr/s368880)<br> ''Financement : ANR JCJC VICHI (Hassan Omran, Commande en impédance variable pour la stabilité des Interactions Homme-Robot) <br> ''Co-encadrant : Hassan Omran<br> ''Directeurs : Bernard Bayle<br> '''17. Cléa Sieffert. Etude patient-spécifique de la restauration mécanique par cimentoplastie avec vissage en oncologie du bassin 2025 (https://theses.fr/s350203)<br> ''Financement : bourse ITI HEalthTech, ED MSII<br> ''Co-encadrant : Laurence Meylheuc<br> ''Directeurs : Julien Garnon, Bernard Bayle<br> '''16. Fadi Alyousef Almasalmah. Sécurité des gestes chirurgicaux télé-opérés à retour d'effort 2025 (http://theses.fr/s301883)<br> ''Financement : bourse région Grand Est et Labex CAMI<br> ''Co-encadrant : Hassan Omran, Chao Liu (LIRMM)<br> ''Directeurs : Bernard Bayle, Florent Nageotte<br> '''15. Guillaume Lods. Planning and control algorithms for continuum robots 2024 (https://www.theses.fr/s298750)<br> ''Financement : ANR JCJC MACROS (Benoit Rosa, Robots continus multi-actionnés pour la chirugie mini-invasive)<br> ''Co-encadrant : Benoit Rosa<br> ''Directeurs : Bernard Bayle, Florent Nageotte<br> '''14. Thibault Poignonec. Commande partagée pour la télémanipulation en chirurgie minimalement invasive 2022 (http://www.theses.fr/s270395)<br> Dans cette thèse, nous développons des stratégies d'assistance à la chirurgie minimalement invasive robotisée et plus précisément à la coelioscopie et à l'endoscopie flexible. Différents défis rendent l'exécution automatique de tâches complexes en MIS : d'une part, l'environnement est non structuré et déformable ; d'autre part, les capteurs extéroceptifs sont limités et leur mesure parfois indisponible. De plus, les outils chirurgicaux utilisés sont souvent flexibles, ce qui rend leur positionnement précis compliqué. Dans la première partie de ce document, nous présentons de nouvelles approches pour réaliser l'identification en ligne du modèle du jeu mécanique présent dans les transmissions à câble utilisées par les endoscopes flexibles. Le jeu dans les transmissions à câbles dégrade la précision du positionnement en boucle ouverte et augmente la charge cognitive du praticien qui devra le compenser. Cependant, sa compensation par la commande nécessite une identification précise du modèle, qui devrait idéalement être effectuée in-situ, c'est-à-dire juste avant ou durant la procédure chirurgicale. Nous proposons plusieurs méthodes qui peuvent être appliquées à différentes architectures de robots et dans différents scénarios pertinents pour des applications médicales. Les algorithmes sont évalués à travers des simulations et évalués expérimentalement sur une plateforme endoscopique robotisée. Dans une seconde partie, nous étudions l'apprentissage en ligne des paramètres des modèles de la tâche et du robot afin de générer une assistance à l'opérateur qui pourra s'améliorer en cours d'utilisation. Nous considérons le cas du guidage haptique lors de la téléopération à distance d'un robot, un scénario classique en robotique chirurgicale. Dans ce contexte, nous évitons d'être dépendant de capteurs extéroceptifs et exploitons la présence de l'opérateur pour extraire les informations nécessaires à l'apprentissage. Les algorithmes que nous proposons sont évalués dans différents scénarios télérobotiques simulés et réels, démontrant l'applicabilité des méthodes aux problèmes d'apprentissage en ligne pour l'assistance à la téléopération.''Financement : bourse région Grand Est et Labex CAMI<br> ''Co-encadrant : Nabil Zemitti (LIRMM)<br> ''Directeurs : Bernard Bayle, Florent Nageotte<br> '''13. Paul Baksic. Assistance robotique aux procédures percutanées chirurgicales dans les systèmes déformables 2024 (http://theses.fr/s270293)<br> Le traitement percutané par radiologie interventionnelle est indiqué pour les tumeurs hépatiques de tailles inférieures à 3 cm. Cela consiste en l’utilisation d’aiguilles par des radiologues pour atteindre les tissus cancéreux, ce qui requiert une grande maîtrise technique. Or, l’efficacité du geste dépend de la précision de ciblage alors que l’interaction aiguille-tissu induit des déformations non-triviales et que le radiologue ne voit pas ce qu’il fait directement. Cette thèse propose un outil d'assistance robotique aux procédures percutanées centré autour du praticien afin de réduire le niveau technique requis. Une méthode d'insertion automatique calculant une référence robotique permettant de compenser le couplage-aiguille tissu ainsi que les perturbations externes à l'aide d'une simulation inverse par éléments finis exécutée en temps-réel est d'abord proposée. Le partage de la commande associant les décisions du praticien à la commande automatique est ensuite abordé. Ces deux contributions sont évaluées dans le cadre d'expériences dans des tissus simulés dans un premier temps, puis dans un fantôme du foie dans un second temps. Pour cela, un dispositif expérimental est mis en place et évalué. ''Financement : bourse région Grand Est et Labex CAMI<br> ''Co-encadrant : Hadrien Courtecuisse<br> ''Directeur : Bernard Bayle<br> '''12. Julien Garnon. Assistance à l'injection de larges volumes du ciment 2020 (http://theses.fr/s212133)<br> La cimentoplastie extra-rachidienne est une intervention percutanée guidée par l’image qui consiste à injecter du ciment acrylique, du polymethylmétacrylate (PMMA) le plus souvent, au sein d’un os pathologique. Le but est non seulement de traiter la douleur mais aussi de renforcer la tenue mécanique de l’os notamment au niveau du bassin. Dans cet optique, le volume de ciment et la technique d’injection pourraient être des facteur prédictifs de succès du geste. Le but de ce travail est de faire un état de l’art sur la cimentoplastie extra-rachidienne, le PMMA et sur la biomécanique du bassin afin d’identifier les axes potentiels de développement de la technique. Une étude des pratiques cliniques est également réalisée. S’en suit la présentation des résultats de travaux précliniques sur l’influence du volume de ciment et de la technique d’injection d’un volume de PMMA supérieur à 10 ml. Puis 3 axes d’assistance à l’injection d’un volume de plus de 10 ml sont présentés et évalués.<br> ''Financement propre (Praticien Hospitalier)<br> ''Co-encadrante : Laurence Meylheuc<br> ''Directeur : Bernard Bayle<br> '''11. Maciej Bednarczyk. Commande avancée des robots collaboratifs en considérant un modèle dynamique de l'interaction homme-robot 2020 (http://theses.fr/s189327) En raison de l'intérêt croissant pour l'utilisation de systèmes robotiques dans un espace de travail partagé avec des opérateurs humains, le développement de robots collaboratifs met l'interaction Homme-robot au centre des préoccupations des roboticiens. Pour cette raison, le développement de nouveaux outils de contrôle permettant la gestion des interactions est devenu un sujet de recherche important. Ainsi, la conception de solutions améliorant la dynamique d'interaction et garantissant l'intégrité de l’opérateur est d’un intérêt particulier. Dans cette thèse, plusieurs outils de contrôle pour la robotique collaborative sont proposés. Les problématiques abordées visent notamment à garantir simultanément la compliance des robots tout en gérant des contraintes, ou à modifier la dynamique d'interaction de manière sûre. L’utilisation de bio-signaux afin d’améliorer la collaboration Homme-robot est également étudiée, pour évaluer l'intention de l’utilisateur. Cet ensemble de problématiques conduit à la conception de contrôleurs dédiés. Deux preuves de concept d’applications médicales utilisant les outils proposés sont développées pour l'insertion autonome d'aiguilles en radiologie interventionnelle et pour la rééducation bimanuelle.<br> ''Financement : allocation de recherche<br> ''Co-encadrant : Hassan Omran<br> ''Directeur : Bernard Bayle<br> '''10. François Schmitt. Perception et restitution de la raideur des tissus dans les procédures médicales et chirurgicales minimalement invasives 2019 (http://theses.fr/2019STRAD033)<br> Le contexte de cette thèse est le développement d’outils pour améliorer la perception de la raideur des tissus dans le cadre de la chirurgie laparoscopique assistée par comanipulation. Lors de procédures manuelles, cette perception est distordue, notamment par l’effet levier, conséquence des contraintes cinématiques imposées par le trocart. Cette thèse s’articule ainsi autour de deux parties. Dans une première partie, nous étudions l’effet levier et les distorsions qu’il produit dans le cadre d’un outil comanipulé. Nous y introduisons ainsi un modèle permettant l’analyse en raideur d’un outil comanipulé par un chirurgien et un robot. Sur cette base, nous développons une stratégie de compensation pour laquelle nous avons mis en place une expérience de validation. Dans une deuxième partie, nous abordons la conception d’une nouvelle architecture à cinématique RCM, intégrant structure et actionnement pour des applications de robotique légère. Nous présentons notamment une démarche de conception de systèmes origamis articulés produits à l’aide de procédés de fabrication multi-matériaux.<br> ''Financement : bourse région Alsace et Labex CAMI<br> ''Co-encadrants : Laurent Barbé, Olivier Piccin, G. Morel (ISIR)<br> ''Directeur : Bernard Bayle<br> '''9. Nicole Lepoutre. Caractérisation et identification de l'injection de ciment orthopédique pour la vertébroplastie télé-opérée en radiologie interventionnelle 2016 (http://theses.fr/2016STRAD049)<br> La vertébroplastie percutanée est une intervention non chirurgicale et peu invasive qui consiste à injecter, sous contrôle radioscopique, un ciment orthopédique dans le corps vertébral. Malgré son efficacité, celle-ci présente quelques inconvénients non négligeables. Le premier est dû au ciment orthopédique qui est injecté pendant sa polymérisation. Au début, sa faible viscosité augmente le risque de fuite hors de la vertèbre traitée, ce qui peut provoquer de lourdes complications. Ensuite, la variation rapide de viscosité limite la durée. Le second désagrément concerne le contrôle par fluoroscopie à rayons X qui expose le praticien de manière prolongée. Ainsi, l’enjeu de ce projet est de proposer aux radiologues un nouveau système d’injection à distance avec retour d’effort sur lequel la viscosité du ciment est régulée pendant l’injection. Le développement de ces aspects permettra la radioprotection des praticiens, une réduction des risques de fuite et une durée d’injection allongée.<br> ''Financement : allocation de recherche unistra (ED MS2I)<br> ''Co-encadrantes : Laurence Meylheuc, Iuliana Bara<br> ''Directeur : Bernard Bayle<br> '''8. Nitish Kumar. Design and development of devices for robotized needle insertion procedures 2014 (http://www.theses.fr/2014STRAD024)<br> Ces travaux de thèse apportent plusieurs contributions à la conception de dispositifs d'assistance robotisés pour la réalisation de procédures d'insertion d'aiguille sous imageur à rayons X. Partant de la tâche de positionnement et d'orientation d'une aiguille, plusieurs architectures mécaniques inédites à quatre degrés de liberté ont été proposées. Un algorithme de synthèse dimensionnelle a été conçu pour calculer les paramètres structuraux de ces mécanismes en étudiant leurs singularités, tout en tenant compte des contraintes antagonistes de compacité du système, de capacité d'actionnement et de taille d'espace de travail. Une décomposition modulaire du dispositif d'assistance a permis de proposer des solutions pour un outil dédié à l'insertion d'aiguille avec retour d'effort. Cet outil comporte un dispositif d'insertion, un système de préhension d'aiguille et un capteur d'effort spécifique pour le retour d'effort.<br> ''Financement : Carnot Santé Numérique et IHU Strasbourg<br> ''Co-encadrant : Olivier Piccin<br> ''Directeur : Bernard Bayle<br> '''7. Laure Esteveny. Vers un actionnement sûr pour la radiologie interventionnelle robotisée 2014 (http://www.theses.fr/2014STRAD015)<br> En radiologie interventionnelle, l’assistance robotisée permet de limiter l’exposition du praticien aux rayons X et d’apporter plus de précision pour effectuer des opérations complexes. La présence de robots dans un environnement humain pose alors la question de la sécurité du patient et de l’équipe médicale, que ce soit lors d’interactions ou de manipulations. Dans cette thèse, nous nous intéressons dans un premier temps aux problématiques de sûreté. Une structure d’actionnement intrinsèquement sûre est proposée. Le prototype réalisé permet d’effectuer des tâches de positionnement en mode automatique. Parallèlement, une stratégie de guidage basée sur une approche passive est proposée. Un système à raideur variable permet d’imposer un effort résistif variable à l’utilisateur en vue de contraindre son geste. Dans une deuxième partie, nous étudions la possibilité d’intégrer de tels systèmes sur un dispositif à plusieurs degrés de liberté, répondant au problème de placement d’aiguille.<br> ''Financement : bourse région Alsace<br> ''Co-encadrant : Laurent Barbé<br> ''Directeur : Bernard Bayle<br> '''6. Salih Abdelaziz. Développement d'un système robotique pour la radiologie interventionnelle sous IRM 2012 (http://www.theses.fr/2012STRAD034)<br> La réalisation de gestes percutanés dans l’IRM ouvre la voie à des pratiques médicales prometteuses. En revanche, l’utilisation de l’IRM reste à ce jour limitée, et ce malgré l’intérêt en terme de qualité d’image. Cela est dû principalement à l’étroitesse du tunnel et à la complexité des gestes réalisés. Pour rendre accessibles de telles pratiques, une assistance robotique semble très pertinente. Pour le concepteur, la réalisation d’un système robotisé compatible IRM n’est pas une tâche facile, étant donné l’espace disponible et la présence d’un champ magnétique intense. C'est dans ce contexte que nous avons développé un assistant robotique, MRGuide, dédié aux traitements du cancer de la prostate dans l’IRM. Il s'agit d'un manipulateur à câbles avec un actionnement déporté. Dans ce travail, de nombreuses contributions menant à la réalisation de ce prototypes ont présentées. Parmi celles‐ci, une instrumentation originale pour estimer la tension des câbles est proposée. Cette instrumentation est basée sur l’utilisation d’une structure en treillis, de mécanismes compliants et de capteurs de déplacement à technologie optique pour assurer la compatibilité avec le scanner. Pour optimiser la géométrie du robot et faciliter son intégration dans l'IRM, une démarche de conception des robots à câbles instrumentés est développée. Cette démarche est basée sur une approche par intervalles. D'autres contributions relatives à la caractérisation de l'espace de travail des robots à câbles instrumentés, à l'étalonnage des capteurs de tension et au développement d'une stratégie de commande adaptée au dispositif sont décrites.<br> ''Financement : allocation de recherche unistra (ED MS2I) <br> ''Co-encadrant : Pierre Renaud<br> ''Directeur : Michel de Mathelin<br> '''5. Mathieu Joinie-Maurin. Téléchirurgie robotisée au contact d'organes mobiles 2012 (http://www.theses.fr/2012STRAD017)<br> Dans les procédures médicales et chirurgicales robotisées un des problèmes principaux vient des mouvements physiologiques du patient et de ses organes. En particulier, les mouvements liés à la respiration peuvent avoir une grande amplitude et donc perturber considérablement la réalisation de gestes précis et sûrs. Pour un robot interagissant avec un patient, il est donc naturel d'envisager une compensation de ces mouvements, notamment respiratoires. Dans l'état actuel des connaissances, différentes expériences de compensation active de mouvement ont été proposées et réalisées avec succès. Dans l'équipe AVR, nous avons démontré la faisabilité d'une compensation active des mouvements physiologiques par asservissement visuel, dans le cas des mouvements respiratoires, puis de mouvements cardiaques.<br> La superposition d'un geste médical exécuté par un robot à cette compensation active a été proposée récemment. Les travaux existant dans le domaine restent pourtant très limités. En particulier l'interaction robot-patient avec prise en compte des efforts demeure un sujet ouvert à ce jour. Différents problèmes se posent dans le cadre d'une telle procédure : i) la mesure d'effort et la séparation des composantes de l'effort liées à la respiration de celles liées à l'interaction outil-organe ; ii) la définition d'une loi de commande au contact combinant les informations obtenues à l'aide d'une caméra avec celles obtenues avec le capteur d'effort ; iii) l'implantation d'une telle loi de commande dans un schéma de téléopération avec retour d'effort. La résolution de ce problème permettrait au praticien d'effectuer un geste chirurgical en percevant les interactions avec les organes, tout en observant sur son écran une scène quasi immobile, et donc dans laquelle il est plus facile d'accomplir les gestes.<br> ''Financement : Bourse doctorant CNRS (ex BDI) et région Alsace<br> ''Directeur : Jacques Gangloff<br> '''4. Ahmed Ayadi. Injection automatique dans le petit animal guidée par vision 2008 (http://www.theses.fr/2008STR13065)<br> L’objectif de ce travail de thèse est la conception et le développement d’un système d’insertion robotisée d’aiguille pour le petit animal. Le dispositif proposé se compose d’un scanner à rayons X, d’un robot et d’un système de vision. Dans le protocole proposé, l’animal attaché à son lit, est passé au scanner afin d’acquérir son modèle CT. Le biologiste définit alors l’étape d’insertion en choisissant deux points dans les données CT : le point d’entrée au niveau de la peau et la cible à atteindre. Ensuite, l’animal et son lit sont déplacés hors du scanner et placés devant le robot. Ce protocole nécessite deux recalages. Le premier permet d’identifier la position de l’animal par rapport au robot suite à son déplacement. Ainsi, les deux points choisis par le biologiste dans les images scanner peuvent être définis dans le repère du robot. La solution proposée est basée sur la projection de lumière structurée sur une cible de recalage. Cette dernière est identifiée également dans les images scanner. Le deuxième recalage consiste à positionner et orienter d’une manière automatique et précise l’aiguille par rapport à la cible. Les deux méthodes proposées sont indépendantes du modèle d’aiguille et de sa fixation au robot. La première méthode proposée est basée sur la création d’une mire virtuelle obtenue suite au déplacement du robot avec un pas fixe et suite à l’extraction de l’aiguille dans l’image caméra. Cette solution conduit à une procédure longue, dont la précision n’a pas été jugée suffisante. La seconde approche proposée est basée sur l’asservissement visuel 2D stéréoscopique. Les paramètres visuels sont extraits directement des images de l’aiguille et tiennent compte de leur redondance. Les premiers tests effectués montrent une précision inférieure à 1 mm et 0,05 rad pour le positionnement de l’aiguille.<br> ''Financement : Bourse région Alsace + IRCAD<br> ''Directeurs : Pierre Graebling, Jacques Gangloff<br> '''3. Cyrille Lebossé. Stimulation magnétique transcrânienne robotisée guidée par imagerie médicale 2008 (http://www.theses.fr/2008STR13046)<br> Ce projet a pour but de concevoir un système robotique dédié à la Stimulation Magnétique Transcrânienne (SMT) guidée par imagerie. La SMT est une technique non-invasive qui se développe de plus en plus pour le traitement de pathologies importantes comme la dépression nerveuse ou les troubles obsessionnels compulsifs. Ce traitement nécessite le déplacement et l’orientation de manière précise d’une sonde électromagnétique à la surface du crâne, afin de produire l’excitation requise des sillons corticaux cibles. Les régions cibles et la trajectoire que devra suivre la sonde sont déterminées au préalable sur une reconstruction 3D du cerveau à partir d’images IRM. A l’heure actuelle, le déplacement de la sonde est effectué manuellement par le médecin grâce à l’utilisation d’un système de neuro-navigation, ce qui rend très difficile la mise en place d’une évaluation clinique rigoureuse des bienfaits de la SMT. Ce projet vise ainsi à réaliser un système robotique, ainsi que sa commande, capable de remplacer le neurologue durant une séance de SMT, tout en garantissant la sécurité et la précision requises par un traitement médical automatique de ce type.<br> ''Financement : allocation de recherche unistra (ED MS2I)<br> ''Co-encadrant : Pierre Renaud<br> ''Directeur : Michel de Mathelin<br> '''2. Laurent Barbé. Téléopération avec retour d'efforts pour les interventions percutanées 2007 (http://www.theses.fr/2007STR13082)<br> La radiologie interventionnelle est une technique chirurgicale minimallement invasive qui permet d'atteindre des organes à traiter avec des aiguilles, guidées à partir d'images scanner. Bien que cette technique offre de nombreux avantages, l'exposition aux rayons X qu'elle occasionne est nocive pour le radiologue. Pour résoudre ce problème, nousavons développé un système de téléopération avec retour d'efforts. Son cahier des charges a été établi à partir d'expériences in-vivo, qui ont notamment conduit à la modélisation des forces lors d'une insertion. Le système développé répond aux contraintes liées à l'utilisation des rayons X et aux besoins des praticiens. Une étude approfondies a permis de déterminer la commande bilatérale la mieux adaptée à l'application. Pour améliorer la perception des efforts, deux approches ont été étudiées. La première est une synthèse automatique de la commande en effort côté maître. La seconde vise à accroître la sensation de passage entre les tissus.<br> ''Financement : BDI/région Alsace<br> ''Directeur : Michel de Mathelin<br> '''1. Benjamin Maurin. Conception et réalisation d’un robot d’insertion d’aiguille pour les procédures percutanées sous imageur scanner 2005 (http://www.theses.fr/2005STR13211)<br> Les interventions radiologiques percutanées consistent en l'insertion d'aiguilles dans le corps d'un patient afin d'atteindre des cibles anatomiques particulières telles que des tumeurs. Ces procédures, nécessitant une grande précision, obligent le radiologue à surveiller l'insertion des aiguilles en utilisant des dispositifs d'imagerie temps-réel tels que les scanners tomographiques à rayons X. Actuellement, ces procédures sont coûteuses en temps, ont une précision de l'ordre du centimètres, et surtout exposent le radiologue à des doses considérables de rayons X. La robotique permet de remplacer le bras du radiologue dans la phase d'insertion d'une aiguille sous contrôle scanner. La robotisation a l'avantage de protéger le praticien, tout en offrant des possibilités supplémentaires de navigation, de guidage, et donc de précision. Nous avons construit un robot compatible mécaniquement à ce type d'opération. La commande du robot est éffectuée par un PC sous en environnement temps-réel. Le robot utilise des moteurs piézo-électriques, et une planification de trajectoire avec évitemment des auto-collisions. La boucle de retour se fait principalement par le chirurgien, selon une structure 'Maître-esclave'. Pour assurer un positionnement fiable par asservissement en position, nous estimons la position du robot dans le repère de l'image afin d'obtenir des consignes en position et en orientation de l'aiguille. Cette estimation de pose 3D utilise le principe de la stéréotaxie à des marqueurs tridimensionnels.<br> ''Financement : Bourse région Alsace<br> ''Directeur : Michel de Mathelin<br> 79d090ff795d52767c6652f8c7b6a31cb1391d84 525 524 2024-05-20T15:47:02Z Bernard.bayle 5 wikitext text/x-wiki Follow links for English keywords and summaries <br> '''18. Dylan Meckes. Apprentissage par renforcement pour la commande en Impédance Variable avec des garanties de sécurité 2026 (https://theses.fr/s368880)<br> ''Financement : ANR JCJC VICHI (Hassan Omran, Commande en impédance variable pour la stabilité des Interactions Homme-Robot) <br> ''Co-encadrant : Hassan Omran<br> ''Directeurs : Bernard Bayle<br> '''17. Cléa Sieffert. Etude patient-spécifique de la restauration mécanique par cimentoplastie avec vissage en oncologie du bassin 2025 (https://theses.fr/s350203)<br> ''Financement : bourse ITI HEalthTech, ED MSII<br> ''Co-encadrant : Laurence Meylheuc<br> ''Directeurs : Julien Garnon, Bernard Bayle<br> '''16. Fadi Alyousef Almasalmah. Sécurité des gestes chirurgicaux télé-opérés à retour d'effort 2025 (http://theses.fr/s301883)<br> ''Financement : bourse région Grand Est et Labex CAMI<br> ''Co-encadrant : Hassan Omran, Chao Liu (LIRMM)<br> ''Directeurs : Bernard Bayle, Florent Nageotte<br> '''15. Guillaume Lods. Planning and control algorithms for continuum robots 2024 (https://www.theses.fr/s298750)<br> ''Financement : ANR JCJC MACROS (Benoit Rosa, Robots continus multi-actionnés pour la chirugie mini-invasive)<br> ''Co-encadrant : Benoit Rosa<br> ''Directeurs : Bernard Bayle, Florent Nageotte<br> '''14. Thibault Poignonec. Commande partagée pour la télémanipulation en chirurgie minimalement invasive 2022 (http://www.theses.fr/s270395)<br> Dans cette thèse, nous développons des stratégies d'assistance à la chirurgie minimalement invasive robotisée et plus précisément à la coelioscopie et à l'endoscopie flexible. Différents défis rendent l'exécution automatique de tâches complexes en MIS : d'une part, l'environnement est non structuré et déformable ; d'autre part, les capteurs extéroceptifs sont limités et leur mesure parfois indisponible. De plus, les outils chirurgicaux utilisés sont souvent flexibles, ce qui rend leur positionnement précis compliqué. Dans la première partie de ce document, nous présentons de nouvelles approches pour réaliser l'identification en ligne du modèle du jeu mécanique présent dans les transmissions à câble utilisées par les endoscopes flexibles. Le jeu dans les transmissions à câbles dégrade la précision du positionnement en boucle ouverte et augmente la charge cognitive du praticien qui devra le compenser. Cependant, sa compensation par la commande nécessite une identification précise du modèle, qui devrait idéalement être effectuée in-situ, c'est-à-dire juste avant ou durant la procédure chirurgicale. Nous proposons plusieurs méthodes qui peuvent être appliquées à différentes architectures de robots et dans différents scénarios pertinents pour des applications médicales. Les algorithmes sont évalués à travers des simulations et évalués expérimentalement sur une plateforme endoscopique robotisée. Dans une seconde partie, nous étudions l'apprentissage en ligne des paramètres des modèles de la tâche et du robot afin de générer une assistance à l'opérateur qui pourra s'améliorer en cours d'utilisation. Nous considérons le cas du guidage haptique lors de la téléopération à distance d'un robot, un scénario classique en robotique chirurgicale. Dans ce contexte, nous évitons d'être dépendant de capteurs extéroceptifs et exploitons la présence de l'opérateur pour extraire les informations nécessaires à l'apprentissage. Les algorithmes que nous proposons sont évalués dans différents scénarios télérobotiques simulés et réels, démontrant l'applicabilité des méthodes aux problèmes d'apprentissage en ligne pour l'assistance à la téléopération.''Financement : bourse région Grand Est et Labex CAMI<br> ''Co-encadrant : Nabil Zemitti (LIRMM)<br> ''Directeurs : Bernard Bayle, Florent Nageotte<br> '''13. Paul Baksic. Assistance robotique aux procédures percutanées chirurgicales dans les systèmes déformables 2024 (http://theses.fr/s270293)<br> Le traitement percutané par radiologie interventionnelle est indiqué pour les tumeurs hépatiques de tailles inférieures à 3 cm. Cela consiste en l’utilisation d’aiguilles par des radiologues pour atteindre les tissus cancéreux, ce qui requiert une grande maîtrise technique. Or, l’efficacité du geste dépend de la précision de ciblage alors que l’interaction aiguille-tissu induit des déformations non-triviales et que le radiologue ne voit pas ce qu’il fait directement. Cette thèse propose un outil d'assistance robotique aux procédures percutanées centré autour du praticien afin de réduire le niveau technique requis. Une méthode d'insertion automatique calculant une référence robotique permettant de compenser le couplage-aiguille tissu ainsi que les perturbations externes à l'aide d'une simulation inverse par éléments finis exécutée en temps-réel est d'abord proposée. Le partage de la commande associant les décisions du praticien à la commande automatique est ensuite abordé. Ces deux contributions sont évaluées dans le cadre d'expériences dans des tissus simulés dans un premier temps, puis dans un fantôme du foie dans un second temps. Pour cela, un dispositif expérimental est mis en place et évalué. ''Financement : bourse région Grand Est et Labex CAMI<br> ''Co-encadrant : Hadrien Courtecuisse<br> ''Directeur : Bernard Bayle<br> '''12. Julien Garnon. Assistance à l'injection de larges volumes du ciment 2020 (http://theses.fr/s212133)<br> La cimentoplastie extra-rachidienne est une intervention percutanée guidée par l’image qui consiste à injecter du ciment acrylique, du polymethylmétacrylate (PMMA) le plus souvent, au sein d’un os pathologique. Le but est non seulement de traiter la douleur mais aussi de renforcer la tenue mécanique de l’os notamment au niveau du bassin. Dans cet optique, le volume de ciment et la technique d’injection pourraient être des facteur prédictifs de succès du geste. Le but de ce travail est de faire un état de l’art sur la cimentoplastie extra-rachidienne, le PMMA et sur la biomécanique du bassin afin d’identifier les axes potentiels de développement de la technique. Une étude des pratiques cliniques est également réalisée. S’en suit la présentation des résultats de travaux précliniques sur l’influence du volume de ciment et de la technique d’injection d’un volume de PMMA supérieur à 10 ml. Puis 3 axes d’assistance à l’injection d’un volume de plus de 10 ml sont présentés et évalués.<br> ''Financement propre (Praticien Hospitalier)<br> ''Co-encadrante : Laurence Meylheuc<br> ''Directeur : Bernard Bayle<br> '''11. Maciej Bednarczyk. Commande avancée des robots collaboratifs en considérant un modèle dynamique de l'interaction homme-robot 2020 (http://theses.fr/s189327) En raison de l'intérêt croissant pour l'utilisation de systèmes robotiques dans un espace de travail partagé avec des opérateurs humains, le développement de robots collaboratifs met l'interaction Homme-robot au centre des préoccupations des roboticiens. Pour cette raison, le développement de nouveaux outils de contrôle permettant la gestion des interactions est devenu un sujet de recherche important. Ainsi, la conception de solutions améliorant la dynamique d'interaction et garantissant l'intégrité de l’opérateur est d’un intérêt particulier. Dans cette thèse, plusieurs outils de contrôle pour la robotique collaborative sont proposés. Les problématiques abordées visent notamment à garantir simultanément la compliance des robots tout en gérant des contraintes, ou à modifier la dynamique d'interaction de manière sûre. L’utilisation de bio-signaux afin d’améliorer la collaboration Homme-robot est également étudiée, pour évaluer l'intention de l’utilisateur. Cet ensemble de problématiques conduit à la conception de contrôleurs dédiés. Deux preuves de concept d’applications médicales utilisant les outils proposés sont développées pour l'insertion autonome d'aiguilles en radiologie interventionnelle et pour la rééducation bimanuelle.<br> ''Financement : allocation de recherche<br> ''Co-encadrant : Hassan Omran<br> ''Directeur : Bernard Bayle<br> '''10. François Schmitt. Perception et restitution de la raideur des tissus dans les procédures médicales et chirurgicales minimalement invasives 2019 (http://theses.fr/2019STRAD033)<br> Le contexte de cette thèse est le développement d’outils pour améliorer la perception de la raideur des tissus dans le cadre de la chirurgie laparoscopique assistée par comanipulation. Lors de procédures manuelles, cette perception est distordue, notamment par l’effet levier, conséquence des contraintes cinématiques imposées par le trocart. Cette thèse s’articule ainsi autour de deux parties. Dans une première partie, nous étudions l’effet levier et les distorsions qu’il produit dans le cadre d’un outil comanipulé. Nous y introduisons ainsi un modèle permettant l’analyse en raideur d’un outil comanipulé par un chirurgien et un robot. Sur cette base, nous développons une stratégie de compensation pour laquelle nous avons mis en place une expérience de validation. Dans une deuxième partie, nous abordons la conception d’une nouvelle architecture à cinématique RCM, intégrant structure et actionnement pour des applications de robotique légère. Nous présentons notamment une démarche de conception de systèmes origamis articulés produits à l’aide de procédés de fabrication multi-matériaux.<br> ''Financement : bourse région Alsace et Labex CAMI<br> ''Co-encadrants : Laurent Barbé, Olivier Piccin, G. Morel (ISIR)<br> ''Directeur : Bernard Bayle<br> '''9. Nicole Lepoutre. Caractérisation et identification de l'injection de ciment orthopédique pour la vertébroplastie télé-opérée en radiologie interventionnelle 2016 (http://theses.fr/2016STRAD049)<br> La vertébroplastie percutanée est une intervention non chirurgicale et peu invasive qui consiste à injecter, sous contrôle radioscopique, un ciment orthopédique dans le corps vertébral. Malgré son efficacité, celle-ci présente quelques inconvénients non négligeables. Le premier est dû au ciment orthopédique qui est injecté pendant sa polymérisation. Au début, sa faible viscosité augmente le risque de fuite hors de la vertèbre traitée, ce qui peut provoquer de lourdes complications. Ensuite, la variation rapide de viscosité limite la durée. Le second désagrément concerne le contrôle par fluoroscopie à rayons X qui expose le praticien de manière prolongée. Ainsi, l’enjeu de ce projet est de proposer aux radiologues un nouveau système d’injection à distance avec retour d’effort sur lequel la viscosité du ciment est régulée pendant l’injection. Le développement de ces aspects permettra la radioprotection des praticiens, une réduction des risques de fuite et une durée d’injection allongée.<br> ''Financement : allocation de recherche unistra (ED MS2I)<br> ''Co-encadrantes : Laurence Meylheuc, Iuliana Bara<br> ''Directeur : Bernard Bayle<br> '''8. Nitish Kumar. Design and development of devices for robotized needle insertion procedures 2014 (http://www.theses.fr/2014STRAD024)<br> Ces travaux de thèse apportent plusieurs contributions à la conception de dispositifs d'assistance robotisés pour la réalisation de procédures d'insertion d'aiguille sous imageur à rayons X. Partant de la tâche de positionnement et d'orientation d'une aiguille, plusieurs architectures mécaniques inédites à quatre degrés de liberté ont été proposées. Un algorithme de synthèse dimensionnelle a été conçu pour calculer les paramètres structuraux de ces mécanismes en étudiant leurs singularités, tout en tenant compte des contraintes antagonistes de compacité du système, de capacité d'actionnement et de taille d'espace de travail. Une décomposition modulaire du dispositif d'assistance a permis de proposer des solutions pour un outil dédié à l'insertion d'aiguille avec retour d'effort. Cet outil comporte un dispositif d'insertion, un système de préhension d'aiguille et un capteur d'effort spécifique pour le retour d'effort.<br> ''Financement : Carnot Santé Numérique et IHU Strasbourg<br> ''Co-encadrant : Olivier Piccin<br> ''Directeur : Bernard Bayle<br> '''7. Laure Esteveny. Vers un actionnement sûr pour la radiologie interventionnelle robotisée 2014 (http://www.theses.fr/2014STRAD015)<br> En radiologie interventionnelle, l’assistance robotisée permet de limiter l’exposition du praticien aux rayons X et d’apporter plus de précision pour effectuer des opérations complexes. La présence de robots dans un environnement humain pose alors la question de la sécurité du patient et de l’équipe médicale, que ce soit lors d’interactions ou de manipulations. Dans cette thèse, nous nous intéressons dans un premier temps aux problématiques de sûreté. Une structure d’actionnement intrinsèquement sûre est proposée. Le prototype réalisé permet d’effectuer des tâches de positionnement en mode automatique. Parallèlement, une stratégie de guidage basée sur une approche passive est proposée. Un système à raideur variable permet d’imposer un effort résistif variable à l’utilisateur en vue de contraindre son geste. Dans une deuxième partie, nous étudions la possibilité d’intégrer de tels systèmes sur un dispositif à plusieurs degrés de liberté, répondant au problème de placement d’aiguille.<br> ''Financement : bourse région Alsace<br> ''Co-encadrant : Laurent Barbé<br> ''Directeur : Bernard Bayle<br> '''6. Salih Abdelaziz. Développement d'un système robotique pour la radiologie interventionnelle sous IRM 2012 (http://www.theses.fr/2012STRAD034)<br> La réalisation de gestes percutanés dans l’IRM ouvre la voie à des pratiques médicales prometteuses. En revanche, l’utilisation de l’IRM reste à ce jour limitée, et ce malgré l’intérêt en terme de qualité d’image. Cela est dû principalement à l’étroitesse du tunnel et à la complexité des gestes réalisés. Pour rendre accessibles de telles pratiques, une assistance robotique semble très pertinente. Pour le concepteur, la réalisation d’un système robotisé compatible IRM n’est pas une tâche facile, étant donné l’espace disponible et la présence d’un champ magnétique intense. C'est dans ce contexte que nous avons développé un assistant robotique, MRGuide, dédié aux traitements du cancer de la prostate dans l’IRM. Il s'agit d'un manipulateur à câbles avec un actionnement déporté. Dans ce travail, de nombreuses contributions menant à la réalisation de ce prototypes ont présentées. Parmi celles‐ci, une instrumentation originale pour estimer la tension des câbles est proposée. Cette instrumentation est basée sur l’utilisation d’une structure en treillis, de mécanismes compliants et de capteurs de déplacement à technologie optique pour assurer la compatibilité avec le scanner. Pour optimiser la géométrie du robot et faciliter son intégration dans l'IRM, une démarche de conception des robots à câbles instrumentés est développée. Cette démarche est basée sur une approche par intervalles. D'autres contributions relatives à la caractérisation de l'espace de travail des robots à câbles instrumentés, à l'étalonnage des capteurs de tension et au développement d'une stratégie de commande adaptée au dispositif sont décrites.<br> ''Financement : allocation de recherche unistra (ED MS2I) <br> ''Co-encadrant : Pierre Renaud<br> ''Directeur : Michel de Mathelin<br> '''5. Mathieu Joinie-Maurin. Téléchirurgie robotisée au contact d'organes mobiles 2012 (http://www.theses.fr/2012STRAD017)<br> Dans les procédures médicales et chirurgicales robotisées un des problèmes principaux vient des mouvements physiologiques du patient et de ses organes. En particulier, les mouvements liés à la respiration peuvent avoir une grande amplitude et donc perturber considérablement la réalisation de gestes précis et sûrs. Pour un robot interagissant avec un patient, il est donc naturel d'envisager une compensation de ces mouvements, notamment respiratoires. Dans l'état actuel des connaissances, différentes expériences de compensation active de mouvement ont été proposées et réalisées avec succès. Dans l'équipe AVR, nous avons démontré la faisabilité d'une compensation active des mouvements physiologiques par asservissement visuel, dans le cas des mouvements respiratoires, puis de mouvements cardiaques.<br> La superposition d'un geste médical exécuté par un robot à cette compensation active a été proposée récemment. Les travaux existant dans le domaine restent pourtant très limités. En particulier l'interaction robot-patient avec prise en compte des efforts demeure un sujet ouvert à ce jour. Différents problèmes se posent dans le cadre d'une telle procédure : i) la mesure d'effort et la séparation des composantes de l'effort liées à la respiration de celles liées à l'interaction outil-organe ; ii) la définition d'une loi de commande au contact combinant les informations obtenues à l'aide d'une caméra avec celles obtenues avec le capteur d'effort ; iii) l'implantation d'une telle loi de commande dans un schéma de téléopération avec retour d'effort. La résolution de ce problème permettrait au praticien d'effectuer un geste chirurgical en percevant les interactions avec les organes, tout en observant sur son écran une scène quasi immobile, et donc dans laquelle il est plus facile d'accomplir les gestes.<br> ''Financement : Bourse doctorant CNRS (ex BDI) et région Alsace<br> ''Directeur : Jacques Gangloff<br> '''4. Ahmed Ayadi. Injection automatique dans le petit animal guidée par vision 2008 (http://www.theses.fr/2008STR13065)<br> L’objectif de ce travail de thèse est la conception et le développement d’un système d’insertion robotisée d’aiguille pour le petit animal. Le dispositif proposé se compose d’un scanner à rayons X, d’un robot et d’un système de vision. Dans le protocole proposé, l’animal attaché à son lit, est passé au scanner afin d’acquérir son modèle CT. Le biologiste définit alors l’étape d’insertion en choisissant deux points dans les données CT : le point d’entrée au niveau de la peau et la cible à atteindre. Ensuite, l’animal et son lit sont déplacés hors du scanner et placés devant le robot. Ce protocole nécessite deux recalages. Le premier permet d’identifier la position de l’animal par rapport au robot suite à son déplacement. Ainsi, les deux points choisis par le biologiste dans les images scanner peuvent être définis dans le repère du robot. La solution proposée est basée sur la projection de lumière structurée sur une cible de recalage. Cette dernière est identifiée également dans les images scanner. Le deuxième recalage consiste à positionner et orienter d’une manière automatique et précise l’aiguille par rapport à la cible. Les deux méthodes proposées sont indépendantes du modèle d’aiguille et de sa fixation au robot. La première méthode proposée est basée sur la création d’une mire virtuelle obtenue suite au déplacement du robot avec un pas fixe et suite à l’extraction de l’aiguille dans l’image caméra. Cette solution conduit à une procédure longue, dont la précision n’a pas été jugée suffisante. La seconde approche proposée est basée sur l’asservissement visuel 2D stéréoscopique. Les paramètres visuels sont extraits directement des images de l’aiguille et tiennent compte de leur redondance. Les premiers tests effectués montrent une précision inférieure à 1 mm et 0,05 rad pour le positionnement de l’aiguille.<br> ''Financement : Bourse région Alsace + IRCAD<br> ''Directeurs : Pierre Graebling, Jacques Gangloff<br> '''3. Cyrille Lebossé. Stimulation magnétique transcrânienne robotisée guidée par imagerie médicale 2008 (http://www.theses.fr/2008STR13046)<br> Ce projet a pour but de concevoir un système robotique dédié à la Stimulation Magnétique Transcrânienne (SMT) guidée par imagerie. La SMT est une technique non-invasive qui se développe de plus en plus pour le traitement de pathologies importantes comme la dépression nerveuse ou les troubles obsessionnels compulsifs. Ce traitement nécessite le déplacement et l’orientation de manière précise d’une sonde électromagnétique à la surface du crâne, afin de produire l’excitation requise des sillons corticaux cibles. Les régions cibles et la trajectoire que devra suivre la sonde sont déterminées au préalable sur une reconstruction 3D du cerveau à partir d’images IRM. A l’heure actuelle, le déplacement de la sonde est effectué manuellement par le médecin grâce à l’utilisation d’un système de neuro-navigation, ce qui rend très difficile la mise en place d’une évaluation clinique rigoureuse des bienfaits de la SMT. Ce projet vise ainsi à réaliser un système robotique, ainsi que sa commande, capable de remplacer le neurologue durant une séance de SMT, tout en garantissant la sécurité et la précision requises par un traitement médical automatique de ce type.<br> ''Financement : allocation de recherche unistra (ED MS2I)<br> ''Co-encadrant : Pierre Renaud<br> ''Directeur : Michel de Mathelin<br> '''2. Laurent Barbé. Téléopération avec retour d'efforts pour les interventions percutanées 2007 (http://www.theses.fr/2007STR13082)<br> La radiologie interventionnelle est une technique chirurgicale minimallement invasive qui permet d'atteindre des organes à traiter avec des aiguilles, guidées à partir d'images scanner. Bien que cette technique offre de nombreux avantages, l'exposition aux rayons X qu'elle occasionne est nocive pour le radiologue. Pour résoudre ce problème, nousavons développé un système de téléopération avec retour d'efforts. Son cahier des charges a été établi à partir d'expériences in-vivo, qui ont notamment conduit à la modélisation des forces lors d'une insertion. Le système développé répond aux contraintes liées à l'utilisation des rayons X et aux besoins des praticiens. Une étude approfondies a permis de déterminer la commande bilatérale la mieux adaptée à l'application. Pour améliorer la perception des efforts, deux approches ont été étudiées. La première est une synthèse automatique de la commande en effort côté maître. La seconde vise à accroître la sensation de passage entre les tissus.<br> ''Financement : BDI/région Alsace<br> ''Directeur : Michel de Mathelin<br> '''1. Benjamin Maurin. Conception et réalisation d’un robot d’insertion d’aiguille pour les procédures percutanées sous imageur scanner 2005 (http://www.theses.fr/2005STR13211)<br> Les interventions radiologiques percutanées consistent en l'insertion d'aiguilles dans le corps d'un patient afin d'atteindre des cibles anatomiques particulières telles que des tumeurs. Ces procédures, nécessitant une grande précision, obligent le radiologue à surveiller l'insertion des aiguilles en utilisant des dispositifs d'imagerie temps-réel tels que les scanners tomographiques à rayons X. Actuellement, ces procédures sont coûteuses en temps, ont une précision de l'ordre du centimètres, et surtout exposent le radiologue à des doses considérables de rayons X. La robotique permet de remplacer le bras du radiologue dans la phase d'insertion d'une aiguille sous contrôle scanner. La robotisation a l'avantage de protéger le praticien, tout en offrant des possibilités supplémentaires de navigation, de guidage, et donc de précision. Nous avons construit un robot compatible mécaniquement à ce type d'opération. La commande du robot est éffectuée par un PC sous en environnement temps-réel. Le robot utilise des moteurs piézo-électriques, et une planification de trajectoire avec évitemment des auto-collisions. La boucle de retour se fait principalement par le chirurgien, selon une structure 'Maître-esclave'. Pour assurer un positionnement fiable par asservissement en position, nous estimons la position du robot dans le repère de l'image afin d'obtenir des consignes en position et en orientation de l'aiguille. Cette estimation de pose 3D utilise le principe de la stéréotaxie à des marqueurs tridimensionnels.<br> ''Financement : Bourse région Alsace<br> ''Directeur : Michel de Mathelin<br> 875f50269cbd36ff05d2b489e1a08320859eef82 526 525 2024-05-20T15:47:41Z Bernard.bayle 5 wikitext text/x-wiki Follow links and change to EN @theses.fr, for English keywords and summaries <br> '''18. Dylan Meckes. Apprentissage par renforcement pour la commande en Impédance Variable avec des garanties de sécurité 2026 (https://theses.fr/s368880)<br> ''Financement : ANR JCJC VICHI (Hassan Omran, Commande en impédance variable pour la stabilité des Interactions Homme-Robot) <br> ''Co-encadrant : Hassan Omran<br> ''Directeurs : Bernard Bayle<br> '''17. Cléa Sieffert. Etude patient-spécifique de la restauration mécanique par cimentoplastie avec vissage en oncologie du bassin 2025 (https://theses.fr/s350203)<br> ''Financement : bourse ITI HEalthTech, ED MSII<br> ''Co-encadrant : Laurence Meylheuc<br> ''Directeurs : Julien Garnon, Bernard Bayle<br> '''16. Fadi Alyousef Almasalmah. Sécurité des gestes chirurgicaux télé-opérés à retour d'effort 2025 (http://theses.fr/s301883)<br> ''Financement : bourse région Grand Est et Labex CAMI<br> ''Co-encadrant : Hassan Omran, Chao Liu (LIRMM)<br> ''Directeurs : Bernard Bayle, Florent Nageotte<br> '''15. Guillaume Lods. Planning and control algorithms for continuum robots 2024 (https://www.theses.fr/s298750)<br> ''Financement : ANR JCJC MACROS (Benoit Rosa, Robots continus multi-actionnés pour la chirugie mini-invasive)<br> ''Co-encadrant : Benoit Rosa<br> ''Directeurs : Bernard Bayle, Florent Nageotte<br> '''14. Thibault Poignonec. Commande partagée pour la télémanipulation en chirurgie minimalement invasive 2022 (http://www.theses.fr/s270395)<br> Dans cette thèse, nous développons des stratégies d'assistance à la chirurgie minimalement invasive robotisée et plus précisément à la coelioscopie et à l'endoscopie flexible. Différents défis rendent l'exécution automatique de tâches complexes en MIS : d'une part, l'environnement est non structuré et déformable ; d'autre part, les capteurs extéroceptifs sont limités et leur mesure parfois indisponible. De plus, les outils chirurgicaux utilisés sont souvent flexibles, ce qui rend leur positionnement précis compliqué. Dans la première partie de ce document, nous présentons de nouvelles approches pour réaliser l'identification en ligne du modèle du jeu mécanique présent dans les transmissions à câble utilisées par les endoscopes flexibles. Le jeu dans les transmissions à câbles dégrade la précision du positionnement en boucle ouverte et augmente la charge cognitive du praticien qui devra le compenser. Cependant, sa compensation par la commande nécessite une identification précise du modèle, qui devrait idéalement être effectuée in-situ, c'est-à-dire juste avant ou durant la procédure chirurgicale. Nous proposons plusieurs méthodes qui peuvent être appliquées à différentes architectures de robots et dans différents scénarios pertinents pour des applications médicales. Les algorithmes sont évalués à travers des simulations et évalués expérimentalement sur une plateforme endoscopique robotisée. Dans une seconde partie, nous étudions l'apprentissage en ligne des paramètres des modèles de la tâche et du robot afin de générer une assistance à l'opérateur qui pourra s'améliorer en cours d'utilisation. Nous considérons le cas du guidage haptique lors de la téléopération à distance d'un robot, un scénario classique en robotique chirurgicale. Dans ce contexte, nous évitons d'être dépendant de capteurs extéroceptifs et exploitons la présence de l'opérateur pour extraire les informations nécessaires à l'apprentissage. Les algorithmes que nous proposons sont évalués dans différents scénarios télérobotiques simulés et réels, démontrant l'applicabilité des méthodes aux problèmes d'apprentissage en ligne pour l'assistance à la téléopération.''Financement : bourse région Grand Est et Labex CAMI<br> ''Co-encadrant : Nabil Zemitti (LIRMM)<br> ''Directeurs : Bernard Bayle, Florent Nageotte<br> '''13. Paul Baksic. Assistance robotique aux procédures percutanées chirurgicales dans les systèmes déformables 2024 (http://theses.fr/s270293)<br> Le traitement percutané par radiologie interventionnelle est indiqué pour les tumeurs hépatiques de tailles inférieures à 3 cm. Cela consiste en l’utilisation d’aiguilles par des radiologues pour atteindre les tissus cancéreux, ce qui requiert une grande maîtrise technique. Or, l’efficacité du geste dépend de la précision de ciblage alors que l’interaction aiguille-tissu induit des déformations non-triviales et que le radiologue ne voit pas ce qu’il fait directement. Cette thèse propose un outil d'assistance robotique aux procédures percutanées centré autour du praticien afin de réduire le niveau technique requis. Une méthode d'insertion automatique calculant une référence robotique permettant de compenser le couplage-aiguille tissu ainsi que les perturbations externes à l'aide d'une simulation inverse par éléments finis exécutée en temps-réel est d'abord proposée. Le partage de la commande associant les décisions du praticien à la commande automatique est ensuite abordé. Ces deux contributions sont évaluées dans le cadre d'expériences dans des tissus simulés dans un premier temps, puis dans un fantôme du foie dans un second temps. Pour cela, un dispositif expérimental est mis en place et évalué. ''Financement : bourse région Grand Est et Labex CAMI<br> ''Co-encadrant : Hadrien Courtecuisse<br> ''Directeur : Bernard Bayle<br> '''12. Julien Garnon. Assistance à l'injection de larges volumes du ciment 2020 (http://theses.fr/s212133)<br> La cimentoplastie extra-rachidienne est une intervention percutanée guidée par l’image qui consiste à injecter du ciment acrylique, du polymethylmétacrylate (PMMA) le plus souvent, au sein d’un os pathologique. Le but est non seulement de traiter la douleur mais aussi de renforcer la tenue mécanique de l’os notamment au niveau du bassin. Dans cet optique, le volume de ciment et la technique d’injection pourraient être des facteur prédictifs de succès du geste. Le but de ce travail est de faire un état de l’art sur la cimentoplastie extra-rachidienne, le PMMA et sur la biomécanique du bassin afin d’identifier les axes potentiels de développement de la technique. Une étude des pratiques cliniques est également réalisée. S’en suit la présentation des résultats de travaux précliniques sur l’influence du volume de ciment et de la technique d’injection d’un volume de PMMA supérieur à 10 ml. Puis 3 axes d’assistance à l’injection d’un volume de plus de 10 ml sont présentés et évalués.<br> ''Financement propre (Praticien Hospitalier)<br> ''Co-encadrante : Laurence Meylheuc<br> ''Directeur : Bernard Bayle<br> '''11. Maciej Bednarczyk. Commande avancée des robots collaboratifs en considérant un modèle dynamique de l'interaction homme-robot 2020 (http://theses.fr/s189327) En raison de l'intérêt croissant pour l'utilisation de systèmes robotiques dans un espace de travail partagé avec des opérateurs humains, le développement de robots collaboratifs met l'interaction Homme-robot au centre des préoccupations des roboticiens. Pour cette raison, le développement de nouveaux outils de contrôle permettant la gestion des interactions est devenu un sujet de recherche important. Ainsi, la conception de solutions améliorant la dynamique d'interaction et garantissant l'intégrité de l’opérateur est d’un intérêt particulier. Dans cette thèse, plusieurs outils de contrôle pour la robotique collaborative sont proposés. Les problématiques abordées visent notamment à garantir simultanément la compliance des robots tout en gérant des contraintes, ou à modifier la dynamique d'interaction de manière sûre. L’utilisation de bio-signaux afin d’améliorer la collaboration Homme-robot est également étudiée, pour évaluer l'intention de l’utilisateur. Cet ensemble de problématiques conduit à la conception de contrôleurs dédiés. Deux preuves de concept d’applications médicales utilisant les outils proposés sont développées pour l'insertion autonome d'aiguilles en radiologie interventionnelle et pour la rééducation bimanuelle.<br> ''Financement : allocation de recherche<br> ''Co-encadrant : Hassan Omran<br> ''Directeur : Bernard Bayle<br> '''10. François Schmitt. Perception et restitution de la raideur des tissus dans les procédures médicales et chirurgicales minimalement invasives 2019 (http://theses.fr/2019STRAD033)<br> Le contexte de cette thèse est le développement d’outils pour améliorer la perception de la raideur des tissus dans le cadre de la chirurgie laparoscopique assistée par comanipulation. Lors de procédures manuelles, cette perception est distordue, notamment par l’effet levier, conséquence des contraintes cinématiques imposées par le trocart. Cette thèse s’articule ainsi autour de deux parties. Dans une première partie, nous étudions l’effet levier et les distorsions qu’il produit dans le cadre d’un outil comanipulé. Nous y introduisons ainsi un modèle permettant l’analyse en raideur d’un outil comanipulé par un chirurgien et un robot. Sur cette base, nous développons une stratégie de compensation pour laquelle nous avons mis en place une expérience de validation. Dans une deuxième partie, nous abordons la conception d’une nouvelle architecture à cinématique RCM, intégrant structure et actionnement pour des applications de robotique légère. Nous présentons notamment une démarche de conception de systèmes origamis articulés produits à l’aide de procédés de fabrication multi-matériaux.<br> ''Financement : bourse région Alsace et Labex CAMI<br> ''Co-encadrants : Laurent Barbé, Olivier Piccin, G. Morel (ISIR)<br> ''Directeur : Bernard Bayle<br> '''9. Nicole Lepoutre. Caractérisation et identification de l'injection de ciment orthopédique pour la vertébroplastie télé-opérée en radiologie interventionnelle 2016 (http://theses.fr/2016STRAD049)<br> La vertébroplastie percutanée est une intervention non chirurgicale et peu invasive qui consiste à injecter, sous contrôle radioscopique, un ciment orthopédique dans le corps vertébral. Malgré son efficacité, celle-ci présente quelques inconvénients non négligeables. Le premier est dû au ciment orthopédique qui est injecté pendant sa polymérisation. Au début, sa faible viscosité augmente le risque de fuite hors de la vertèbre traitée, ce qui peut provoquer de lourdes complications. Ensuite, la variation rapide de viscosité limite la durée. Le second désagrément concerne le contrôle par fluoroscopie à rayons X qui expose le praticien de manière prolongée. Ainsi, l’enjeu de ce projet est de proposer aux radiologues un nouveau système d’injection à distance avec retour d’effort sur lequel la viscosité du ciment est régulée pendant l’injection. Le développement de ces aspects permettra la radioprotection des praticiens, une réduction des risques de fuite et une durée d’injection allongée.<br> ''Financement : allocation de recherche unistra (ED MS2I)<br> ''Co-encadrantes : Laurence Meylheuc, Iuliana Bara<br> ''Directeur : Bernard Bayle<br> '''8. Nitish Kumar. Design and development of devices for robotized needle insertion procedures 2014 (http://www.theses.fr/2014STRAD024)<br> Ces travaux de thèse apportent plusieurs contributions à la conception de dispositifs d'assistance robotisés pour la réalisation de procédures d'insertion d'aiguille sous imageur à rayons X. Partant de la tâche de positionnement et d'orientation d'une aiguille, plusieurs architectures mécaniques inédites à quatre degrés de liberté ont été proposées. Un algorithme de synthèse dimensionnelle a été conçu pour calculer les paramètres structuraux de ces mécanismes en étudiant leurs singularités, tout en tenant compte des contraintes antagonistes de compacité du système, de capacité d'actionnement et de taille d'espace de travail. Une décomposition modulaire du dispositif d'assistance a permis de proposer des solutions pour un outil dédié à l'insertion d'aiguille avec retour d'effort. Cet outil comporte un dispositif d'insertion, un système de préhension d'aiguille et un capteur d'effort spécifique pour le retour d'effort.<br> ''Financement : Carnot Santé Numérique et IHU Strasbourg<br> ''Co-encadrant : Olivier Piccin<br> ''Directeur : Bernard Bayle<br> '''7. Laure Esteveny. Vers un actionnement sûr pour la radiologie interventionnelle robotisée 2014 (http://www.theses.fr/2014STRAD015)<br> En radiologie interventionnelle, l’assistance robotisée permet de limiter l’exposition du praticien aux rayons X et d’apporter plus de précision pour effectuer des opérations complexes. La présence de robots dans un environnement humain pose alors la question de la sécurité du patient et de l’équipe médicale, que ce soit lors d’interactions ou de manipulations. Dans cette thèse, nous nous intéressons dans un premier temps aux problématiques de sûreté. Une structure d’actionnement intrinsèquement sûre est proposée. Le prototype réalisé permet d’effectuer des tâches de positionnement en mode automatique. Parallèlement, une stratégie de guidage basée sur une approche passive est proposée. Un système à raideur variable permet d’imposer un effort résistif variable à l’utilisateur en vue de contraindre son geste. Dans une deuxième partie, nous étudions la possibilité d’intégrer de tels systèmes sur un dispositif à plusieurs degrés de liberté, répondant au problème de placement d’aiguille.<br> ''Financement : bourse région Alsace<br> ''Co-encadrant : Laurent Barbé<br> ''Directeur : Bernard Bayle<br> '''6. Salih Abdelaziz. Développement d'un système robotique pour la radiologie interventionnelle sous IRM 2012 (http://www.theses.fr/2012STRAD034)<br> La réalisation de gestes percutanés dans l’IRM ouvre la voie à des pratiques médicales prometteuses. En revanche, l’utilisation de l’IRM reste à ce jour limitée, et ce malgré l’intérêt en terme de qualité d’image. Cela est dû principalement à l’étroitesse du tunnel et à la complexité des gestes réalisés. Pour rendre accessibles de telles pratiques, une assistance robotique semble très pertinente. Pour le concepteur, la réalisation d’un système robotisé compatible IRM n’est pas une tâche facile, étant donné l’espace disponible et la présence d’un champ magnétique intense. C'est dans ce contexte que nous avons développé un assistant robotique, MRGuide, dédié aux traitements du cancer de la prostate dans l’IRM. Il s'agit d'un manipulateur à câbles avec un actionnement déporté. Dans ce travail, de nombreuses contributions menant à la réalisation de ce prototypes ont présentées. Parmi celles‐ci, une instrumentation originale pour estimer la tension des câbles est proposée. Cette instrumentation est basée sur l’utilisation d’une structure en treillis, de mécanismes compliants et de capteurs de déplacement à technologie optique pour assurer la compatibilité avec le scanner. Pour optimiser la géométrie du robot et faciliter son intégration dans l'IRM, une démarche de conception des robots à câbles instrumentés est développée. Cette démarche est basée sur une approche par intervalles. D'autres contributions relatives à la caractérisation de l'espace de travail des robots à câbles instrumentés, à l'étalonnage des capteurs de tension et au développement d'une stratégie de commande adaptée au dispositif sont décrites.<br> ''Financement : allocation de recherche unistra (ED MS2I) <br> ''Co-encadrant : Pierre Renaud<br> ''Directeur : Michel de Mathelin<br> '''5. Mathieu Joinie-Maurin. Téléchirurgie robotisée au contact d'organes mobiles 2012 (http://www.theses.fr/2012STRAD017)<br> Dans les procédures médicales et chirurgicales robotisées un des problèmes principaux vient des mouvements physiologiques du patient et de ses organes. En particulier, les mouvements liés à la respiration peuvent avoir une grande amplitude et donc perturber considérablement la réalisation de gestes précis et sûrs. Pour un robot interagissant avec un patient, il est donc naturel d'envisager une compensation de ces mouvements, notamment respiratoires. Dans l'état actuel des connaissances, différentes expériences de compensation active de mouvement ont été proposées et réalisées avec succès. Dans l'équipe AVR, nous avons démontré la faisabilité d'une compensation active des mouvements physiologiques par asservissement visuel, dans le cas des mouvements respiratoires, puis de mouvements cardiaques.<br> La superposition d'un geste médical exécuté par un robot à cette compensation active a été proposée récemment. Les travaux existant dans le domaine restent pourtant très limités. En particulier l'interaction robot-patient avec prise en compte des efforts demeure un sujet ouvert à ce jour. Différents problèmes se posent dans le cadre d'une telle procédure : i) la mesure d'effort et la séparation des composantes de l'effort liées à la respiration de celles liées à l'interaction outil-organe ; ii) la définition d'une loi de commande au contact combinant les informations obtenues à l'aide d'une caméra avec celles obtenues avec le capteur d'effort ; iii) l'implantation d'une telle loi de commande dans un schéma de téléopération avec retour d'effort. La résolution de ce problème permettrait au praticien d'effectuer un geste chirurgical en percevant les interactions avec les organes, tout en observant sur son écran une scène quasi immobile, et donc dans laquelle il est plus facile d'accomplir les gestes.<br> ''Financement : Bourse doctorant CNRS (ex BDI) et région Alsace<br> ''Directeur : Jacques Gangloff<br> '''4. Ahmed Ayadi. Injection automatique dans le petit animal guidée par vision 2008 (http://www.theses.fr/2008STR13065)<br> L’objectif de ce travail de thèse est la conception et le développement d’un système d’insertion robotisée d’aiguille pour le petit animal. Le dispositif proposé se compose d’un scanner à rayons X, d’un robot et d’un système de vision. Dans le protocole proposé, l’animal attaché à son lit, est passé au scanner afin d’acquérir son modèle CT. Le biologiste définit alors l’étape d’insertion en choisissant deux points dans les données CT : le point d’entrée au niveau de la peau et la cible à atteindre. Ensuite, l’animal et son lit sont déplacés hors du scanner et placés devant le robot. Ce protocole nécessite deux recalages. Le premier permet d’identifier la position de l’animal par rapport au robot suite à son déplacement. Ainsi, les deux points choisis par le biologiste dans les images scanner peuvent être définis dans le repère du robot. La solution proposée est basée sur la projection de lumière structurée sur une cible de recalage. Cette dernière est identifiée également dans les images scanner. Le deuxième recalage consiste à positionner et orienter d’une manière automatique et précise l’aiguille par rapport à la cible. Les deux méthodes proposées sont indépendantes du modèle d’aiguille et de sa fixation au robot. La première méthode proposée est basée sur la création d’une mire virtuelle obtenue suite au déplacement du robot avec un pas fixe et suite à l’extraction de l’aiguille dans l’image caméra. Cette solution conduit à une procédure longue, dont la précision n’a pas été jugée suffisante. La seconde approche proposée est basée sur l’asservissement visuel 2D stéréoscopique. Les paramètres visuels sont extraits directement des images de l’aiguille et tiennent compte de leur redondance. Les premiers tests effectués montrent une précision inférieure à 1 mm et 0,05 rad pour le positionnement de l’aiguille.<br> ''Financement : Bourse région Alsace + IRCAD<br> ''Directeurs : Pierre Graebling, Jacques Gangloff<br> '''3. Cyrille Lebossé. Stimulation magnétique transcrânienne robotisée guidée par imagerie médicale 2008 (http://www.theses.fr/2008STR13046)<br> Ce projet a pour but de concevoir un système robotique dédié à la Stimulation Magnétique Transcrânienne (SMT) guidée par imagerie. La SMT est une technique non-invasive qui se développe de plus en plus pour le traitement de pathologies importantes comme la dépression nerveuse ou les troubles obsessionnels compulsifs. Ce traitement nécessite le déplacement et l’orientation de manière précise d’une sonde électromagnétique à la surface du crâne, afin de produire l’excitation requise des sillons corticaux cibles. Les régions cibles et la trajectoire que devra suivre la sonde sont déterminées au préalable sur une reconstruction 3D du cerveau à partir d’images IRM. A l’heure actuelle, le déplacement de la sonde est effectué manuellement par le médecin grâce à l’utilisation d’un système de neuro-navigation, ce qui rend très difficile la mise en place d’une évaluation clinique rigoureuse des bienfaits de la SMT. Ce projet vise ainsi à réaliser un système robotique, ainsi que sa commande, capable de remplacer le neurologue durant une séance de SMT, tout en garantissant la sécurité et la précision requises par un traitement médical automatique de ce type.<br> ''Financement : allocation de recherche unistra (ED MS2I)<br> ''Co-encadrant : Pierre Renaud<br> ''Directeur : Michel de Mathelin<br> '''2. Laurent Barbé. Téléopération avec retour d'efforts pour les interventions percutanées 2007 (http://www.theses.fr/2007STR13082)<br> La radiologie interventionnelle est une technique chirurgicale minimallement invasive qui permet d'atteindre des organes à traiter avec des aiguilles, guidées à partir d'images scanner. Bien que cette technique offre de nombreux avantages, l'exposition aux rayons X qu'elle occasionne est nocive pour le radiologue. Pour résoudre ce problème, nousavons développé un système de téléopération avec retour d'efforts. Son cahier des charges a été établi à partir d'expériences in-vivo, qui ont notamment conduit à la modélisation des forces lors d'une insertion. Le système développé répond aux contraintes liées à l'utilisation des rayons X et aux besoins des praticiens. Une étude approfondies a permis de déterminer la commande bilatérale la mieux adaptée à l'application. Pour améliorer la perception des efforts, deux approches ont été étudiées. La première est une synthèse automatique de la commande en effort côté maître. La seconde vise à accroître la sensation de passage entre les tissus.<br> ''Financement : BDI/région Alsace<br> ''Directeur : Michel de Mathelin<br> '''1. Benjamin Maurin. Conception et réalisation d’un robot d’insertion d’aiguille pour les procédures percutanées sous imageur scanner 2005 (http://www.theses.fr/2005STR13211)<br> Les interventions radiologiques percutanées consistent en l'insertion d'aiguilles dans le corps d'un patient afin d'atteindre des cibles anatomiques particulières telles que des tumeurs. Ces procédures, nécessitant une grande précision, obligent le radiologue à surveiller l'insertion des aiguilles en utilisant des dispositifs d'imagerie temps-réel tels que les scanners tomographiques à rayons X. Actuellement, ces procédures sont coûteuses en temps, ont une précision de l'ordre du centimètres, et surtout exposent le radiologue à des doses considérables de rayons X. La robotique permet de remplacer le bras du radiologue dans la phase d'insertion d'une aiguille sous contrôle scanner. La robotisation a l'avantage de protéger le praticien, tout en offrant des possibilités supplémentaires de navigation, de guidage, et donc de précision. Nous avons construit un robot compatible mécaniquement à ce type d'opération. La commande du robot est éffectuée par un PC sous en environnement temps-réel. Le robot utilise des moteurs piézo-électriques, et une planification de trajectoire avec évitemment des auto-collisions. La boucle de retour se fait principalement par le chirurgien, selon une structure 'Maître-esclave'. Pour assurer un positionnement fiable par asservissement en position, nous estimons la position du robot dans le repère de l'image afin d'obtenir des consignes en position et en orientation de l'aiguille. Cette estimation de pose 3D utilise le principe de la stéréotaxie à des marqueurs tridimensionnels.<br> ''Financement : Bourse région Alsace<br> ''Directeur : Michel de Mathelin<br> af28be377ab00b522179efabbeda781036bf8e48 8 123 531 2024-06-10T10:34:16Z Admin 2 Page créée avec « Main_Page » wikitext text/x-wiki Main_Page 8f9e9b397d590520d0938b3a063c1c0b58ba8445 0 42 533 494 2024-07-01T18:39:18Z L.cuvillon 9 wikitext text/x-wiki [[Image:Cuvillon.jpg|thumb|right|200px|Loic Cuvillon]] =Contact= * Email : [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] * Phone : +33 3 68 85 44 71 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C127 * Adresse perso : 67000 Strasbourg =Curriculum Vitae= * 2002 : Diplôme d'ingénieur de l'ENSPS. * 2006 : Thèse de doctorat en robotique, Université de Strasbourg * 2007 : Maître de Conférences, Université de Strasbourg =Enseignement= Enseignement à [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], école d'ingénieur. * Robotique * Automatique * [[Systèmes_temps-réel_et_systèmes_embarqués_(EII)|Informatique temps-réel]] * [[Programmation_C|Programmation C]] =Recherche= ==Thématiques== * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques ==Publications== ===Publications téléchargeables=== * [[Media:these_cuvillon.pdf|Thèse (2006)]] ===Liste des publications=== <iframe key="papr" path="?author=cuvillon&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous#hideMenu"/> b2bd0dc13c3293fc847c211e0889229e474da416 534 533 2024-07-01T19:39:55Z L.cuvillon 9 /* Publications téléchargeables */ wikitext text/x-wiki [[Image:Cuvillon.jpg|thumb|right|200px|Loic Cuvillon]] =Contact= * Email : [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] * Phone : +33 3 68 85 44 71 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C127 * Adresse perso : 67000 Strasbourg =Curriculum Vitae= * 2002 : Diplôme d'ingénieur de l'ENSPS. * 2006 : Thèse de doctorat en robotique, Université de Strasbourg * 2007 : Maître de Conférences, Université de Strasbourg =Enseignement= Enseignement à [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], école d'ingénieur. * Robotique * Automatique * [[Systèmes_temps-réel_et_systèmes_embarqués_(EII)|Informatique temps-réel]] * [[Programmation_C|Programmation C]] =Recherche= ==Thématiques== * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques ==Publications== ===Liste des publications=== <iframe key="papr" path="?author=cuvillon&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous#hideMenu"/> 7525a5237f081c5f1989ab41f7741cedad575883 535 534 2024-07-01T20:00:52Z L.cuvillon 9 /* Curriculum Vitae */ wikitext text/x-wiki [[Image:Cuvillon.jpg|thumb|right|200px|Loic Cuvillon]] =Contact= * Email : [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] * Phone : +33 3 68 85 44 71 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C127 * Adresse perso : 67000 Strasbourg =Curriculum Vitae= * 2007 : Maître de Conférences, Université de Strasbourg * 2006 : Thèse de doctorat en robotique, Université de Strasbourg * 2002 : Diplôme d'ingénieur de l'ENSPS. =Enseignement= Enseignement à [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], école d'ingénieur. * Robotique * Automatique * [[Systèmes_temps-réel_et_systèmes_embarqués_(EII)|Informatique temps-réel]] * [[Programmation_C|Programmation C]] =Recherche= ==Thématiques== * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques ==Publications== ===Liste des publications=== <iframe key="papr" path="?author=cuvillon&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous#hideMenu"/> b3ad0356a11cd823781b47086b55f0d7646b2aaf 536 535 2024-07-01T20:24:13Z L.cuvillon 9 wikitext text/x-wiki [[Image:Cuvillon.jpg|thumb|right|200px|Loic Cuvillon]] =Contact= * Email : [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] * Phone : +33 3 68 85 44 71 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C127 * Adresse perso : 67000 Strasbourg =Responsabilités= * Responsable de la spécialité de 3ieme année Automatique, Robotique (ISAV) du diplôme d'ingénieur généraliste de [http://www.telecom-physique.fr/ Télécom Physique Strasbourg] * Membre élu du conseil de perfectionnement de [http://www.telecom-physique.fr/ Télécom Physique Strasbourg] * Membre du comité technique de l'[https://www.innovlab-tps.net InnovLab] de Télécom Physique Strasbourg ** Responsable des ilots robotique mobile et robotique de manipulation dans cet pour favoriser l’innovation, l'expérimentation et la collaboration autour de projets pluridisciplinaires. * Représentant du personnel au Conseil Local Higiène et Sécurité du Travail (CLHSCT) du [https://icube.unistra.fr/en/ laboratoire ICube] =Curriculum Vitae= * 2007 : Maître de Conférences, Université de Strasbourg * 2006 : Thèse de doctorat en robotique, Université de Strasbourg * 2002 : Diplôme d'ingénieur de l'ENSPS. =Enseignement= Enseignements à [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], école d'ingénieur. * Robotique * Automatique * Informatique temps-réel * Programmation C =Recherche= ==Thématiques== * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques == Projets == ==Publications== ===Liste des publications=== <iframe key="papr" path="?author=cuvillon&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous#hideMenu"/> 3f144403cbde7470db6d8f31593bd8d55bd88bf1 537 536 2024-07-01T21:06:45Z L.cuvillon 9 wikitext text/x-wiki [[Image:Cuvillon.jpg|thumb|right|200px|Loic Cuvillon]] =Contact= * Email : [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] * Phone : +33 3 68 85 44 71 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C127 * Adresse perso : 67000 Strasbourg =Responsabilités= * Responsable de la spécialité de 3ieme année Automatique, Robotique (ISAV) du diplôme d'ingénieur généraliste de [http://www.telecom-physique.fr/ Télécom Physique Strasbourg] * Membre élu du conseil de perfectionnement de [http://www.telecom-physique.fr/ Télécom Physique Strasbourg] * Membre du comité technique de l'[https://www.innovlab-tps.net InnovLab] de Télécom Physique Strasbourg ** Responsable des ilots robotique mobile et robotique de manipulation. * Représentant du personnel au Conseil Local Hygiène, Sécurité et Conditions de Travail (CLHSCT) du [https://icube.unistra.fr/en/ laboratoire ICube] =Curriculum Vitae= * 2007 : Maître de Conférences, Université de Strasbourg * 2006 : Thèse de doctorat en robotique, Université de Strasbourg * 2002 : Diplôme d'ingénieur de l'ENSPS. =Enseignement= Enseignements à [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], école d'ingénieur. * Robotique ** Responsable et concepteur des TP robotique avancé (robot UR5) et robotique mobile (Lego EV3 et Turtlbot3 robot) * Automatique ** Responsable et concepteur des TPs seconde année (Segway en Lego EV3) * Informatique temps-réel ** Responsable et concepteur des TPs sous linux Xenomai (Raspberry Pi) * Programmation C =Recherche= ==Thématiques== * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques == Projets == * Projet ANR Dexterwide * Projet ANR STRAD * Projet ANR Tir4Street ==Publications== ===Liste des publications=== <iframe key="papr" path="?author=cuvillon&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous#hideMenu"/> 3a38713a7ed23a4e6b6bfa72c94727e6ff7df82a 538 537 2024-07-01T21:07:21Z L.cuvillon 9 wikitext text/x-wiki [[Image:Cuvillon.jpg|thumb|right|200px|Loic Cuvillon]] =Contact= * Email : [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] * Phone : +33 3 68 85 44 71 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C127 * Adresse perso : 67000 Strasbourg =Responsabilités= * Responsable de la spécialité de 3ieme année Automatique, Robotique (ISAV) du diplôme d'ingénieur généraliste de [http://www.telecom-physique.fr/ Télécom Physique Strasbourg] * Membre élu du conseil de perfectionnement de [http://www.telecom-physique.fr/ Télécom Physique Strasbourg] * Membre du comité technique de l'[https://www.innovlab-tps.net InnovLab] de Télécom Physique Strasbourg ** Responsable des ilots robotique mobile et robotique de manipulation. * Représentant du personnel au Conseil Local Hygiène, Sécurité et Conditions de Travail (CLHSCT) du [https://icube.unistra.fr/en/ laboratoire ICube] =Curriculum Vitae= * 2007 : Maître de Conférences, Université de Strasbourg * 2006 : Thèse de doctorat en robotique, Université de Strasbourg * 2002 : Diplôme d'ingénieur de l'ENSPS. =Enseignement= Enseignements à [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], école d'ingénieur. * Robotique ** Responsable et concepteur des TP robotique avancé (robot UR5) et robotique mobile (Lego EV3 et Turtlbot3 robot) * Automatique ** Responsable et concepteur des TPs seconde année (Segway en Lego EV3) * Informatique temps-réel ** Responsable et concepteur des TPs sous linux Xenomai (Raspberry Pi) * Programmation C =Recherche= == Projets == * Projet ANR Dexterwide * Projet ANR STRAD * Projet ANR Tir4Street ==Thématiques== * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques ==Publications== <iframe key="papr" path="?author=cuvillon&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous#hideMenu"/> 366cc1b01c25a2d94d1ba050ee5fe7e69907fffb 539 538 2024-07-01T21:33:04Z L.cuvillon 9 wikitext text/x-wiki [[Image:Cuvillon.jpg|thumb|right|200px|Loic Cuvillon]] =Contact= * Email : [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] * Phone : +33 3 68 85 44 71 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C127 * Adresse perso : 67000 Strasbourg =Responsabilités= * Responsable de la spécialité de 3ieme année Automatique, Robotique (ISAV) du diplôme d'ingénieur généraliste de [http://www.telecom-physique.fr/ Télécom Physique Strasbourg] * Membre élu du conseil de perfectionnement de [http://www.telecom-physique.fr/ Télécom Physique Strasbourg] * Membre du comité technique de l'[https://www.innovlab-tps.net InnovLab] de Télécom Physique Strasbourg ** Responsable des ilots robotique mobile et robotique de manipulation. * Représentant du personnel au Conseil Local Hygiène, Sécurité et Conditions de Travail (CLHSCT) du [https://icube.unistra.fr/en/ laboratoire ICube] =Curriculum Vitae= * 2007 : Maître de Conférences, Université de Strasbourg * 2006 : Thèse de doctorat en robotique, Université de Strasbourg * 2002 : Diplôme d'ingénieur de l'ENSPS. =Enseignement= Enseignements à [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], école d'ingénieur. * Robotique ** Responsable et concepteur des TP robotique avancé (robot UR5) et robotique mobile (Lego EV3 et Turtlbot3 robot) * Automatique ** Responsable et concepteur des TPs seconde année (Segway en Lego EV3) * Informatique temps-réel ** Responsable et concepteur des TPs sous linux Xenomai (Raspberry Pi) * Programmation C =Recherche= == Projets en cours == * Projet ANR [https://strad.dextair.com/home STRAD] (STReet Art Drone, 2022-2026) ** [https://www.youtube.com/watch?v=fZkru3tZsYo Video Premier prototype (sans effecteur de peinture)] ** Partenaires: ICube, GIPSA-lab, Polyvionics et Spacejunk * Projet ANR [https://trio-climatologie-strasbourg.fr Tir4Street] (thermal infrared for street trees ,2022-2026) ** Partenaires: ICube, INRAE et Strasbourg eurometropole ==Thématiques== * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques ==Publications== <iframe key="papr" path="?author=cuvillon&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous#hideMenu"/> 51afc4dbf42b2afd70f42ec67560ee31ad0b7383 540 539 2024-07-05T22:06:08Z L.cuvillon 9 wikitext text/x-wiki [[Image:Cuvillon.jpg|thumb|right|200px|Loic Cuvillon]] =Contact= * Email : [mailto:l.cuvillon@unistra.fr l.cuvillon@unistra.fr] * Phone : +33 3 68 85 44 71 * Adresse pro : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau : C127 * Adresse perso : 67000 Strasbourg =Responsabilités= * Responsable de la spécialité de 3ieme année Automatique, Robotique (ISAV) du diplôme d'ingénieur généraliste de [http://www.telecom-physique.fr/ Télécom Physique Strasbourg] * Membre élu du conseil de perfectionnement de [http://www.telecom-physique.fr/ Télécom Physique Strasbourg] * Membre du comité technique de l'[https://www.innovlab-tps.net InnovLab] de Télécom Physique Strasbourg ** Responsable des ilots robotique mobile et robotique de manipulation. * Représentant du personnel au Conseil Local Hygiène, Sécurité et Conditions de Travail (CLHSCT) du [https://icube.unistra.fr/en/ laboratoire ICube] =Curriculum Vitae= * 2007 : Maître de Conférences, Université de Strasbourg * 2006 : Thèse de doctorat en robotique, Université de Strasbourg * 2002 : Diplôme d'ingénieur de l'ENSPS. =Enseignement= Enseignements à [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], école d'ingénieur. * Robotique ** Responsable des TP robotique avancé (robot UR5) et robotique mobile (Lego EV3 et Turtlbot3 robot) * Automatique ** Responsable des TPs seconde année (concepteur du TP Segway en Lego EV3) * Informatique temps-réel ** Responsable des TPs (concepteur des TPs sous linux Xenomai) * Programmation C =Recherche= == Projets en cours == * Projet ANR [https://strad.dextair.com/home STRAD] (STReet Art Drone, 2022-2026) ** [https://www.youtube.com/watch?v=fZkru3tZsYo Video Premier prototype (sans effecteur de peinture)] ** Partenaires: ICube, GIPSA-lab, Polyvionics et Spacejunk * Projet ANR [https://trio-climatologie-strasbourg.fr Tir4Street] (thermal infrared for street trees ,2022-2026) ** Partenaires: ICube, INRAE et Strasbourg eurometropole ==Thématiques== * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques ==Publications== <iframe key="papr" path="?author=cuvillon&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous#hideMenu"/> a8273c8d15873130ec52877ae2fb06b6c71c8956 0 28 555 554 2024-07-16T07:25:33Z Jacques.gangloff 11 /* Responsabilités antérieures */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA YouTube] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone / Phone : +33 (0)3 68 85 44 80 * Adresse pro / Prof. address : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau / Office : C132 * Adresse perso / Pers. address : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance / Date of birth * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS) / Engineering Degree from INSA Strasbourg * 1994 : Intégration de l'ENS de Cachan / Admission to ENS Cachan * 1995 : Agrégation de génie électrique / Agrégation in Electrical Engineering * 1996 : DEA de photonique et image / Master degree in Photonics and Imaging * 1999 : Thèse de doctorat / PhD * 2000 : Maître de conférences / Associate Professor * 2004 : Habilitation à diriger les recherches / Habilitation to supervise research * 2005 : Professeur des universités / Full Professor =Certificats d'authenticité / Certificates of Authenticity= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. Starting from September 2020, all recommendation letters, thesis reports, and project reviews will be certified using a QR code that links to this section of my personal page. To verify the authenticity of the document, simply download the corresponding PDF by following the link below and enter the password located under the QR code of the document to be verified. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat / Example]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats / Access to certificates] <br style="clear: both" /> =Responsabilités / Responsibilities= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. * Editeur associé du journal ''IEEE Robotics and Automation Letters'' depuis 2024. * Co-head for the [http://masteririv.u-strasbg.fr/index.php/Accueil IRIV Master’s program] since 2015. * Head for the [https://www.master-iriv.fr/m2/parcours-ar AR track] of the [http://master-iriv.u-strasbg.fr/ IRIV Master’s program] since 2005. * Member of the Board of Directors of Telecom Physique Strasbourg since 2010. * Member of the Advisory Board of Telecom Physique Strasbourg since 2010. * Leader of the “Complex Systems and Sparsity” theme of the RDH team since 2021. * Chairman of the Scientific Expert Committee of Télécom Physique Strasbourg since 2022. * Associate Editor of the journal ‘‘IEEE Robotics and Automation Letters’’ since 2024. == Responsabilités antérieures / Past Responsibilities== * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement / Teaching= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] Lecturer at [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées / Subjects Taught== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours d'informatique temps-réel ** Cours sur les drones * In the second year: ** Digital Control Course ** Sustainable Engineering Course ** Robotics and Automation Lab Sessions * In the third year and Master 2: ** Robotics Course ** Vision-Based Control Course ** Real-Time Computing Course ** Drone Course == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] Videos of almost all my courses are available on [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA my YouTube channel]. They have been compiled into MOOCs on this page: [https://sites.google.com/view/rbotx/] =Recherche / Research= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. Summary of the last 10 years of my research guided by the principle of frugality. I made this presentation at INRIA Rennes in February 2024 during a seminar organized on the sidelines of Marco Tognon’s Habilitation defense. <youtube>ThW7nigN9hQ</youtube> ==Thématiques / Research Topics== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] * Vision-Based Control * Dynamic Visual Servoing * Predictive Control * Industrial Robotics * Medical and Surgical Robotics * Compensation of Physiological Motion * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Cable-Driven Parallel Robotics] * [https://www.dextair.com Aerial Manipulation] ==Distinctions== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> b2b6e80836513533d2ad7960d9536010301dd44f 556 555 2024-07-16T08:47:42Z Jacques.gangloff 11 wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA YouTube] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone / Phone : +33 (0)3 68 85 44 80 * Adresse pro / Prof. address : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau / Office : C132 * Adresse perso / Pers. address : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance / Date of birth * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS) / Engineering Degree from INSA Strasbourg * 1994 : Intégration de l'ENS de Cachan / Admission to ENS Cachan * 1995 : Agrégation de génie électrique / Agrégation in Electrical Engineering * 1996 : DEA de photonique et image / Master degree in Photonics and Imaging * 1999 : Thèse de doctorat / PhD * 2000 : Maître de conférences / Associate Professor * 2004 : Habilitation à diriger les recherches / Habilitation to supervise research * 2005 : Professeur des universités / Full Professor =Certificats d'authenticité / Certificates of Authenticity= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. Starting from September 2020, all recommendation letters, thesis reports, and project reviews will be certified using a QR code that links to this section of my personal page. To verify the authenticity of the document, simply download the corresponding PDF by following the link below and enter the password located under the QR code of the document to be verified. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat / Example]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats / Access to certificates] <br style="clear: both" /> =Responsabilités / Duties= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. * Editeur associé du journal ''IEEE Robotics and Automation Letters'' depuis 2024. * Co-head for the [http://masteririv.u-strasbg.fr/index.php/Accueil IRIV Master’s program] since 2015. * Head for the [https://www.master-iriv.fr/m2/parcours-ar AR track] of the [http://master-iriv.u-strasbg.fr/ IRIV Master’s program] since 2005. * Member of the Board of Directors of Telecom Physique Strasbourg since 2010. * Member of the Advisory Board of Telecom Physique Strasbourg since 2010. * Leader of the “Complex Systems and Sparsity” theme of the RDH team since 2021. * Chairman of the Scientific Expert Committee of Télécom Physique Strasbourg since 2022. * Associate Editor of the journal ‘‘IEEE Robotics and Automation Letters’’ since 2024. == Responsabilités antérieures / Past Duties== * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement / Teaching= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] Lecturer at [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées / Subjects Taught== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours d'informatique temps-réel ** Cours sur les drones * In the second year: ** Digital Control Course ** Sustainable Engineering Course ** Robotics and Automation Lab Sessions * In the third year and Master 2: ** Robotics Course ** Vision-Based Control Course ** Real-Time Computing Course ** Drone Course == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] Videos of almost all my courses are available on [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA my YouTube channel]. They have been compiled into MOOCs on this page: [https://sites.google.com/view/rbotx/] =Recherche / Research= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. Summary of the last 10 years of my research guided by the principle of frugality. I made this presentation at INRIA Rennes in February 2024 during a seminar organized on the sidelines of Marco Tognon’s Habilitation defense. <youtube>ThW7nigN9hQ</youtube> ==Thématiques / Research Topics== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] * Vision-Based Control * Dynamic Visual Servoing * Predictive Control * Industrial Robotics * Medical and Surgical Robotics * Compensation of Physiological Motion * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Cable-Driven Parallel Robotics] * [https://www.dextair.com Aerial Manipulation] ==Distinctions / Awards== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 * [[Media:award_icra04.pdf|Best Vision Paper Award at ICRA 2004]]. * [[Media:award_tro05.pdf|Best 2005 Paper Award of the journal ‘‘IEEE Transactions on Robotics’’]]. * [[Media:award_miccai07.jpg|Best Medical Robotics Paper Award at the MICCAI 2007 conference]]. * [[Media:award_biorob10.pdf|“Best Conference Paper Award” at the BioRob 2010 conference]]. * [[Media:award_icra11.pdf|Finalist for the “Best Medical Robotics Paper Award” at the ICRA 2011 conference]]. * Awards won by supervised PhD students: ** Roumald Ginhoux received the Poincaré Prize from the Society of Friends of the Universities of Strasbourg in May 2004. ** Wael Bachta received: *** the thesis prize from the General Council of Bas-Rhin in June 2009, *** the 2nd prize of the GdR Robotics in September 2009. ** Arda Yigit received: *** the best video poster award at JJCR 2020, *** the second thesis prize of the GdR Robotics in 2022. == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> c2e8c39ad42259be1ea5132fdc792dee73d08728 557 556 2024-07-16T08:47:58Z Jacques.gangloff 11 /* Distinctions / Awards */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA YouTube] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone / Phone : +33 (0)3 68 85 44 80 * Adresse pro / Prof. address : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau / Office : C132 * Adresse perso / Pers. address : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance / Date of birth * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS) / Engineering Degree from INSA Strasbourg * 1994 : Intégration de l'ENS de Cachan / Admission to ENS Cachan * 1995 : Agrégation de génie électrique / Agrégation in Electrical Engineering * 1996 : DEA de photonique et image / Master degree in Photonics and Imaging * 1999 : Thèse de doctorat / PhD * 2000 : Maître de conférences / Associate Professor * 2004 : Habilitation à diriger les recherches / Habilitation to supervise research * 2005 : Professeur des universités / Full Professor =Certificats d'authenticité / Certificates of Authenticity= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. Starting from September 2020, all recommendation letters, thesis reports, and project reviews will be certified using a QR code that links to this section of my personal page. To verify the authenticity of the document, simply download the corresponding PDF by following the link below and enter the password located under the QR code of the document to be verified. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat / Example]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats / Access to certificates] <br style="clear: both" /> =Responsabilités / Duties= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. * Editeur associé du journal ''IEEE Robotics and Automation Letters'' depuis 2024. * Co-head for the [http://masteririv.u-strasbg.fr/index.php/Accueil IRIV Master’s program] since 2015. * Head for the [https://www.master-iriv.fr/m2/parcours-ar AR track] of the [http://master-iriv.u-strasbg.fr/ IRIV Master’s program] since 2005. * Member of the Board of Directors of Telecom Physique Strasbourg since 2010. * Member of the Advisory Board of Telecom Physique Strasbourg since 2010. * Leader of the “Complex Systems and Sparsity” theme of the RDH team since 2021. * Chairman of the Scientific Expert Committee of Télécom Physique Strasbourg since 2022. * Associate Editor of the journal ‘‘IEEE Robotics and Automation Letters’’ since 2024. == Responsabilités antérieures / Past Duties== * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement / Teaching= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] Lecturer at [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées / Subjects Taught== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours d'informatique temps-réel ** Cours sur les drones * In the second year: ** Digital Control Course ** Sustainable Engineering Course ** Robotics and Automation Lab Sessions * In the third year and Master 2: ** Robotics Course ** Vision-Based Control Course ** Real-Time Computing Course ** Drone Course == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] Videos of almost all my courses are available on [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA my YouTube channel]. They have been compiled into MOOCs on this page: [https://sites.google.com/view/rbotx/] =Recherche / Research= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. Summary of the last 10 years of my research guided by the principle of frugality. I made this presentation at INRIA Rennes in February 2024 during a seminar organized on the sidelines of Marco Tognon’s Habilitation defense. <youtube>ThW7nigN9hQ</youtube> ==Thématiques / Research Topics== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] * Vision-Based Control * Dynamic Visual Servoing * Predictive Control * Industrial Robotics * Medical and Surgical Robotics * Compensation of Physiological Motion * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Cable-Driven Parallel Robotics] * [https://www.dextair.com Aerial Manipulation] ==Distinctions / Awards== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 * [[Media:award_icra04.pdf|Best Vision Paper Award at ICRA 2004]]. * [[Media:award_tro05.pdf|Best 2005 Paper Award of the journal ‘‘IEEE Transactions on Robotics’’]]. * [[Media:award_miccai07.jpg|Best Medical Robotics Paper Award at the MICCAI 2007 conference]]. * [[Media:award_biorob10.pdf|“Best Conference Paper Award” at the BioRob 2010 conference]]. * [[Media:award_icra11.pdf|Finalist for the “Best Medical Robotics Paper Award” at the ICRA 2011 conference]]. * Awards won by supervised PhD students: ** Roumald Ginhoux received the Poincaré Prize from the Society of Friends of the Universities of Strasbourg in May 2004. ** Wael Bachta received: *** the thesis prize from the General Council of Bas-Rhin in June 2009, *** the 2nd prize of the GdR Robotics in September 2009. ** Arda Yigit received: *** the best video poster award at JJCR 2020, *** the second thesis prize of the GdR Robotics in 2022. == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 4150f80ee687d7f7437eaf8df30a9b08bdea8f2f 558 557 2024-07-16T08:50:26Z Jacques.gangloff 11 /* Distinctions / Awards */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA YouTube] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone / Phone : +33 (0)3 68 85 44 80 * Adresse pro / Prof. address : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau / Office : C132 * Adresse perso / Pers. address : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance / Date of birth * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS) / Engineering Degree from INSA Strasbourg * 1994 : Intégration de l'ENS de Cachan / Admission to ENS Cachan * 1995 : Agrégation de génie électrique / Agrégation in Electrical Engineering * 1996 : DEA de photonique et image / Master degree in Photonics and Imaging * 1999 : Thèse de doctorat / PhD * 2000 : Maître de conférences / Associate Professor * 2004 : Habilitation à diriger les recherches / Habilitation to supervise research * 2005 : Professeur des universités / Full Professor =Certificats d'authenticité / Certificates of Authenticity= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. Starting from September 2020, all recommendation letters, thesis reports, and project reviews will be certified using a QR code that links to this section of my personal page. To verify the authenticity of the document, simply download the corresponding PDF by following the link below and enter the password located under the QR code of the document to be verified. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat / Example]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats / Access to certificates] <br style="clear: both" /> =Responsabilités / Duties= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. * Editeur associé du journal ''IEEE Robotics and Automation Letters'' depuis 2024. * Co-head for the [http://masteririv.u-strasbg.fr/index.php/Accueil IRIV Master’s program] since 2015. * Head for the [https://www.master-iriv.fr/m2/parcours-ar AR track] of the [http://master-iriv.u-strasbg.fr/ IRIV Master’s program] since 2005. * Member of the Board of Directors of Telecom Physique Strasbourg since 2010. * Member of the Advisory Board of Telecom Physique Strasbourg since 2010. * Leader of the “Complex Systems and Sparsity” theme of the RDH team since 2021. * Chairman of the Scientific Expert Committee of Télécom Physique Strasbourg since 2022. * Associate Editor of the journal ‘‘IEEE Robotics and Automation Letters’’ since 2024. == Responsabilités antérieures / Past Duties== * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement / Teaching= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] Lecturer at [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées / Subjects Taught== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours d'informatique temps-réel ** Cours sur les drones * In the second year: ** Digital Control Course ** Sustainable Engineering Course ** Robotics and Automation Lab Sessions * In the third year and Master 2: ** Robotics Course ** Vision-Based Control Course ** Real-Time Computing Course ** Drone Course == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] Videos of almost all my courses are available on [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA my YouTube channel]. They have been compiled into MOOCs on this page: [https://sites.google.com/view/rbotx/] =Recherche / Research= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. Summary of the last 10 years of my research guided by the principle of frugality. I made this presentation at INRIA Rennes in February 2024 during a seminar organized on the sidelines of Marco Tognon’s Habilitation defense. <youtube>ThW7nigN9hQ</youtube> ==Thématiques / Research Topics== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] * Vision-Based Control * Dynamic Visual Servoing * Predictive Control * Industrial Robotics * Medical and Surgical Robotics * Compensation of Physiological Motion * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Cable-Driven Parallel Robotics] * [https://www.dextair.com Aerial Manipulation] ==Distinctions / Awards== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 * [[Media:award_icra04.pdf|Best Vision Paper Award at ICRA 2004]]. * [[Media:award_tro05.pdf|Best 2005 Paper Award of the journal ‘‘IEEE Transactions on Robotics’’]]. * [[Media:award_miccai07.jpg|Best Medical Robotics Paper Award at the MICCAI 2007 conference]]. * [[Media:award_biorob10.pdf|“Best Conference Paper Award” at the BioRob 2010 conference]]. * [[Media:award_icra11.pdf|Finalist for the “Best Medical Robotics Paper Award” at the ICRA 2011 conference]]. * Awards won by supervised PhD students: ** Roumald Ginhoux received the Poincaré Prize from the Society of Friends of the Universities of Strasbourg in May 2004. ** Wael Bachta received: *** the best thesis prize from the General Council of Bas-Rhin in June 2009, *** the 2nd best thesis prize of the GdR Robotics in 2009. ** Arda Yigit received: *** the best video poster award at JJCR 2020, *** the 2nd best thesis prize of the GdR Robotics in 2022. == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> cd4ec028600b92a84a73b9b3d8557b5c316fe8bd 559 558 2024-07-16T08:57:21Z Jacques.gangloff 11 /* Diffusion du savoir */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA YouTube] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone / Phone : +33 (0)3 68 85 44 80 * Adresse pro / Prof. address : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau / Office : C132 * Adresse perso / Pers. address : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance / Date of birth * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS) / Engineering Degree from INSA Strasbourg * 1994 : Intégration de l'ENS de Cachan / Admission to ENS Cachan * 1995 : Agrégation de génie électrique / Agrégation in Electrical Engineering * 1996 : DEA de photonique et image / Master degree in Photonics and Imaging * 1999 : Thèse de doctorat / PhD * 2000 : Maître de conférences / Associate Professor * 2004 : Habilitation à diriger les recherches / Habilitation to supervise research * 2005 : Professeur des universités / Full Professor =Certificats d'authenticité / Certificates of Authenticity= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. Starting from September 2020, all recommendation letters, thesis reports, and project reviews will be certified using a QR code that links to this section of my personal page. To verify the authenticity of the document, simply download the corresponding PDF by following the link below and enter the password located under the QR code of the document to be verified. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat / Example]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats / Access to certificates] <br style="clear: both" /> =Responsabilités / Duties= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. * Editeur associé du journal ''IEEE Robotics and Automation Letters'' depuis 2024. * Co-head for the [http://masteririv.u-strasbg.fr/index.php/Accueil IRIV Master’s program] since 2015. * Head for the [https://www.master-iriv.fr/m2/parcours-ar AR track] of the [http://master-iriv.u-strasbg.fr/ IRIV Master’s program] since 2005. * Member of the Board of Directors of Telecom Physique Strasbourg since 2010. * Member of the Advisory Board of Telecom Physique Strasbourg since 2010. * Leader of the “Complex Systems and Sparsity” theme of the RDH team since 2021. * Chairman of the Scientific Expert Committee of Télécom Physique Strasbourg since 2022. * Associate Editor of the journal ‘‘IEEE Robotics and Automation Letters’’ since 2024. == Responsabilités antérieures / Past Duties== * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement / Teaching= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] Lecturer at [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées / Subjects Taught== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours d'informatique temps-réel ** Cours sur les drones * In the second year: ** Digital Control Course ** Sustainable Engineering Course ** Robotics and Automation Lab Sessions * In the third year and Master 2: ** Robotics Course ** Vision-Based Control Course ** Real-Time Computing Course ** Drone Course == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] Videos of almost all my courses are available on [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA my YouTube channel]. They have been compiled into MOOCs on this page: [https://sites.google.com/view/rbotx/] =Recherche / Research= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. Summary of the last 10 years of my research guided by the principle of frugality. I made this presentation at INRIA Rennes in February 2024 during a seminar organized on the sidelines of Marco Tognon’s Habilitation defense. <youtube>ThW7nigN9hQ</youtube> ==Thématiques / Research Topics== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] * Vision-Based Control * Dynamic Visual Servoing * Predictive Control * Industrial Robotics * Medical and Surgical Robotics * Compensation of Physiological Motion * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Cable-Driven Parallel Robotics] * [https://www.dextair.com Aerial Manipulation] ==Distinctions / Awards== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 * [[Media:award_icra04.pdf|Best Vision Paper Award at ICRA 2004]]. * [[Media:award_tro05.pdf|Best 2005 Paper Award of the journal ‘‘IEEE Transactions on Robotics’’]]. * [[Media:award_miccai07.jpg|Best Medical Robotics Paper Award at the MICCAI 2007 conference]]. * [[Media:award_biorob10.pdf|“Best Conference Paper Award” at the BioRob 2010 conference]]. * [[Media:award_icra11.pdf|Finalist for the “Best Medical Robotics Paper Award” at the ICRA 2011 conference]]. * Awards won by supervised PhD students: ** Roumald Ginhoux received the Poincaré Prize from the Society of Friends of the Universities of Strasbourg in May 2004. ** Wael Bachta received: *** the best thesis prize from the General Council of Bas-Rhin in June 2009, *** the 2nd best thesis prize of the GdR Robotics in 2009. ** Arda Yigit received: *** the best video poster award at JJCR 2020, *** the 2nd best thesis prize of the GdR Robotics in 2022. == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] * Conférence Alsace Tech "Sobriété : une réalité pour les grandes écoles de notre réseau !" : https://youtu.be/kJXx7LR21H4?t=2701 == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> e4f90de08d8415d2aea5753f36a52f9f2b6ea6b4 560 559 2024-07-16T08:58:02Z Jacques.gangloff 11 /* Diffusion du savoir */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA YouTube] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone / Phone : +33 (0)3 68 85 44 80 * Adresse pro / Prof. address : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau / Office : C132 * Adresse perso / Pers. address : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance / Date of birth * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS) / Engineering Degree from INSA Strasbourg * 1994 : Intégration de l'ENS de Cachan / Admission to ENS Cachan * 1995 : Agrégation de génie électrique / Agrégation in Electrical Engineering * 1996 : DEA de photonique et image / Master degree in Photonics and Imaging * 1999 : Thèse de doctorat / PhD * 2000 : Maître de conférences / Associate Professor * 2004 : Habilitation à diriger les recherches / Habilitation to supervise research * 2005 : Professeur des universités / Full Professor =Certificats d'authenticité / Certificates of Authenticity= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. Starting from September 2020, all recommendation letters, thesis reports, and project reviews will be certified using a QR code that links to this section of my personal page. To verify the authenticity of the document, simply download the corresponding PDF by following the link below and enter the password located under the QR code of the document to be verified. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat / Example]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats / Access to certificates] <br style="clear: both" /> =Responsabilités / Duties= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. * Editeur associé du journal ''IEEE Robotics and Automation Letters'' depuis 2024. * Co-head for the [http://masteririv.u-strasbg.fr/index.php/Accueil IRIV Master’s program] since 2015. * Head for the [https://www.master-iriv.fr/m2/parcours-ar AR track] of the [http://master-iriv.u-strasbg.fr/ IRIV Master’s program] since 2005. * Member of the Board of Directors of Telecom Physique Strasbourg since 2010. * Member of the Advisory Board of Telecom Physique Strasbourg since 2010. * Leader of the “Complex Systems and Sparsity” theme of the RDH team since 2021. * Chairman of the Scientific Expert Committee of Télécom Physique Strasbourg since 2022. * Associate Editor of the journal ‘‘IEEE Robotics and Automation Letters’’ since 2024. == Responsabilités antérieures / Past Duties== * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement / Teaching= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] Lecturer at [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées / Subjects Taught== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours d'informatique temps-réel ** Cours sur les drones * In the second year: ** Digital Control Course ** Sustainable Engineering Course ** Robotics and Automation Lab Sessions * In the third year and Master 2: ** Robotics Course ** Vision-Based Control Course ** Real-Time Computing Course ** Drone Course == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] Videos of almost all my courses are available on [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA my YouTube channel]. They have been compiled into MOOCs on this page: [https://sites.google.com/view/rbotx/] =Recherche / Research= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. Summary of the last 10 years of my research guided by the principle of frugality. I made this presentation at INRIA Rennes in February 2024 during a seminar organized on the sidelines of Marco Tognon’s Habilitation defense. <youtube>ThW7nigN9hQ</youtube> ==Thématiques / Research Topics== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] * Vision-Based Control * Dynamic Visual Servoing * Predictive Control * Industrial Robotics * Medical and Surgical Robotics * Compensation of Physiological Motion * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Cable-Driven Parallel Robotics] * [https://www.dextair.com Aerial Manipulation] ==Distinctions / Awards== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 * [[Media:award_icra04.pdf|Best Vision Paper Award at ICRA 2004]]. * [[Media:award_tro05.pdf|Best 2005 Paper Award of the journal ‘‘IEEE Transactions on Robotics’’]]. * [[Media:award_miccai07.jpg|Best Medical Robotics Paper Award at the MICCAI 2007 conference]]. * [[Media:award_biorob10.pdf|“Best Conference Paper Award” at the BioRob 2010 conference]]. * [[Media:award_icra11.pdf|Finalist for the “Best Medical Robotics Paper Award” at the ICRA 2011 conference]]. * Awards won by supervised PhD students: ** Roumald Ginhoux received the Poincaré Prize from the Society of Friends of the Universities of Strasbourg in May 2004. ** Wael Bachta received: *** the best thesis prize from the General Council of Bas-Rhin in June 2009, *** the 2nd best thesis prize of the GdR Robotics in 2009. ** Arda Yigit received: *** the best video poster award at JJCR 2020, *** the 2nd best thesis prize of the GdR Robotics in 2022. == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] * Conférence Alsace Tech "Sobriété : une réalité pour les grandes écoles de notre réseau !" : <youtube>kJXx7LR21H4?t=2701</youtube> == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> f960dc7cdef9de1a666a15b60a0a35791ef4b10c 561 560 2024-07-16T08:59:34Z Jacques.gangloff 11 /* Diffusion du savoir */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA YouTube] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone / Phone : +33 (0)3 68 85 44 80 * Adresse pro / Prof. address : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau / Office : C132 * Adresse perso / Pers. address : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance / Date of birth * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS) / Engineering Degree from INSA Strasbourg * 1994 : Intégration de l'ENS de Cachan / Admission to ENS Cachan * 1995 : Agrégation de génie électrique / Agrégation in Electrical Engineering * 1996 : DEA de photonique et image / Master degree in Photonics and Imaging * 1999 : Thèse de doctorat / PhD * 2000 : Maître de conférences / Associate Professor * 2004 : Habilitation à diriger les recherches / Habilitation to supervise research * 2005 : Professeur des universités / Full Professor =Certificats d'authenticité / Certificates of Authenticity= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. Starting from September 2020, all recommendation letters, thesis reports, and project reviews will be certified using a QR code that links to this section of my personal page. To verify the authenticity of the document, simply download the corresponding PDF by following the link below and enter the password located under the QR code of the document to be verified. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat / Example]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats / Access to certificates] <br style="clear: both" /> =Responsabilités / Duties= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. * Editeur associé du journal ''IEEE Robotics and Automation Letters'' depuis 2024. * Co-head for the [http://masteririv.u-strasbg.fr/index.php/Accueil IRIV Master’s program] since 2015. * Head for the [https://www.master-iriv.fr/m2/parcours-ar AR track] of the [http://master-iriv.u-strasbg.fr/ IRIV Master’s program] since 2005. * Member of the Board of Directors of Telecom Physique Strasbourg since 2010. * Member of the Advisory Board of Telecom Physique Strasbourg since 2010. * Leader of the “Complex Systems and Sparsity” theme of the RDH team since 2021. * Chairman of the Scientific Expert Committee of Télécom Physique Strasbourg since 2022. * Associate Editor of the journal ‘‘IEEE Robotics and Automation Letters’’ since 2024. == Responsabilités antérieures / Past Duties== * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement / Teaching= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] Lecturer at [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées / Subjects Taught== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours d'informatique temps-réel ** Cours sur les drones * In the second year: ** Digital Control Course ** Sustainable Engineering Course ** Robotics and Automation Lab Sessions * In the third year and Master 2: ** Robotics Course ** Vision-Based Control Course ** Real-Time Computing Course ** Drone Course == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] Videos of almost all my courses are available on [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA my YouTube channel]. They have been compiled into MOOCs on this page: [https://sites.google.com/view/rbotx/] =Recherche / Research= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. Summary of the last 10 years of my research guided by the principle of frugality. I made this presentation at INRIA Rennes in February 2024 during a seminar organized on the sidelines of Marco Tognon’s Habilitation defense. <youtube>ThW7nigN9hQ</youtube> ==Thématiques / Research Topics== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] * Vision-Based Control * Dynamic Visual Servoing * Predictive Control * Industrial Robotics * Medical and Surgical Robotics * Compensation of Physiological Motion * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Cable-Driven Parallel Robotics] * [https://www.dextair.com Aerial Manipulation] ==Distinctions / Awards== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 * [[Media:award_icra04.pdf|Best Vision Paper Award at ICRA 2004]]. * [[Media:award_tro05.pdf|Best 2005 Paper Award of the journal ‘‘IEEE Transactions on Robotics’’]]. * [[Media:award_miccai07.jpg|Best Medical Robotics Paper Award at the MICCAI 2007 conference]]. * [[Media:award_biorob10.pdf|“Best Conference Paper Award” at the BioRob 2010 conference]]. * [[Media:award_icra11.pdf|Finalist for the “Best Medical Robotics Paper Award” at the ICRA 2011 conference]]. * Awards won by supervised PhD students: ** Roumald Ginhoux received the Poincaré Prize from the Society of Friends of the Universities of Strasbourg in May 2004. ** Wael Bachta received: *** the best thesis prize from the General Council of Bas-Rhin in June 2009, *** the 2nd best thesis prize of the GdR Robotics in 2009. ** Arda Yigit received: *** the best video poster award at JJCR 2020, *** the 2nd best thesis prize of the GdR Robotics in 2022. == Diffusion du savoir == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] * Conférence Alsace Tech "[https://youtu.be/kJXx7LR21H4?t=2701 Sobriété : une réalité pour les grandes écoles de notre réseau !]" : <youtube>kJXx7LR21H4?t=2701</youtube> == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> ccd5ae25a1f4b9a5579423092151ace429330427 562 561 2024-07-16T09:04:45Z Jacques.gangloff 11 /* Diffusion du savoir */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA YouTube] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone / Phone : +33 (0)3 68 85 44 80 * Adresse pro / Prof. address : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau / Office : C132 * Adresse perso / Pers. address : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance / Date of birth * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS) / Engineering Degree from INSA Strasbourg * 1994 : Intégration de l'ENS de Cachan / Admission to ENS Cachan * 1995 : Agrégation de génie électrique / Agrégation in Electrical Engineering * 1996 : DEA de photonique et image / Master degree in Photonics and Imaging * 1999 : Thèse de doctorat / PhD * 2000 : Maître de conférences / Associate Professor * 2004 : Habilitation à diriger les recherches / Habilitation to supervise research * 2005 : Professeur des universités / Full Professor =Certificats d'authenticité / Certificates of Authenticity= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. Starting from September 2020, all recommendation letters, thesis reports, and project reviews will be certified using a QR code that links to this section of my personal page. To verify the authenticity of the document, simply download the corresponding PDF by following the link below and enter the password located under the QR code of the document to be verified. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat / Example]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats / Access to certificates] <br style="clear: both" /> =Responsabilités / Duties= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. * Editeur associé du journal ''IEEE Robotics and Automation Letters'' depuis 2024. * Co-head for the [http://masteririv.u-strasbg.fr/index.php/Accueil IRIV Master’s program] since 2015. * Head for the [https://www.master-iriv.fr/m2/parcours-ar AR track] of the [http://master-iriv.u-strasbg.fr/ IRIV Master’s program] since 2005. * Member of the Board of Directors of Telecom Physique Strasbourg since 2010. * Member of the Advisory Board of Telecom Physique Strasbourg since 2010. * Leader of the “Complex Systems and Sparsity” theme of the RDH team since 2021. * Chairman of the Scientific Expert Committee of Télécom Physique Strasbourg since 2022. * Associate Editor of the journal ‘‘IEEE Robotics and Automation Letters’’ since 2024. == Responsabilités antérieures / Past Duties== * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement / Teaching= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] Lecturer at [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées / Subjects Taught== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours d'informatique temps-réel ** Cours sur les drones * In the second year: ** Digital Control Course ** Sustainable Engineering Course ** Robotics and Automation Lab Sessions * In the third year and Master 2: ** Robotics Course ** Vision-Based Control Course ** Real-Time Computing Course ** Drone Course == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] Videos of almost all my courses are available on [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA my YouTube channel]. They have been compiled into MOOCs on this page: [https://sites.google.com/view/rbotx/] =Recherche / Research= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. Summary of the last 10 years of my research guided by the principle of frugality. I made this presentation at INRIA Rennes in February 2024 during a seminar organized on the sidelines of Marco Tognon’s Habilitation defense. <youtube>ThW7nigN9hQ</youtube> ==Thématiques / Research Topics== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] * Vision-Based Control * Dynamic Visual Servoing * Predictive Control * Industrial Robotics * Medical and Surgical Robotics * Compensation of Physiological Motion * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Cable-Driven Parallel Robotics] * [https://www.dextair.com Aerial Manipulation] ==Distinctions / Awards== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 * [[Media:award_icra04.pdf|Best Vision Paper Award at ICRA 2004]]. * [[Media:award_tro05.pdf|Best 2005 Paper Award of the journal ‘‘IEEE Transactions on Robotics’’]]. * [[Media:award_miccai07.jpg|Best Medical Robotics Paper Award at the MICCAI 2007 conference]]. * [[Media:award_biorob10.pdf|“Best Conference Paper Award” at the BioRob 2010 conference]]. * [[Media:award_icra11.pdf|Finalist for the “Best Medical Robotics Paper Award” at the ICRA 2011 conference]]. * Awards won by supervised PhD students: ** Roumald Ginhoux received the Poincaré Prize from the Society of Friends of the Universities of Strasbourg in May 2004. ** Wael Bachta received: *** the best thesis prize from the General Council of Bas-Rhin in June 2009, *** the 2nd best thesis prize of the GdR Robotics in 2009. ** Arda Yigit received: *** the best video poster award at JJCR 2020, *** the 2nd best thesis prize of the GdR Robotics in 2022. == Diffusion du savoir / Knowledge Dissemination == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] * Conférence Alsace Tech "[https://youtu.be/kJXx7LR21H4?t=2701 Sobriété : une réalité pour les grandes écoles de notre réseau !]" du 18 juin 2024 * [[Media:LaRecherche2012.pdf|Article on GyroLock published in a special issue of the magazine La Recherche (“Operating on a Beating Heart”, Les Dossiers de la Recherche No. 47, Feb. 2012)]] * [[Media:LAlsace 060412.pdf|Article on the “Beating Heart” project published in the newspaper “L’Alsace” on April 6, 2012]] * Alsace Tech Conference “[https://youtu.be/kJXx7LR21H4?t=2701 Sobriety: A Reality for the Leading Schools in Our Network!]” on June 18, 2024 == Logiciels == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> b9819189ec4421e0b7405a2f33e51a6a9129a00c 563 562 2024-07-16T09:06:26Z Jacques.gangloff 11 /* Logiciels */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA YouTube] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone / Phone : +33 (0)3 68 85 44 80 * Adresse pro / Prof. address : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau / Office : C132 * Adresse perso / Pers. address : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance / Date of birth * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS) / Engineering Degree from INSA Strasbourg * 1994 : Intégration de l'ENS de Cachan / Admission to ENS Cachan * 1995 : Agrégation de génie électrique / Agrégation in Electrical Engineering * 1996 : DEA de photonique et image / Master degree in Photonics and Imaging * 1999 : Thèse de doctorat / PhD * 2000 : Maître de conférences / Associate Professor * 2004 : Habilitation à diriger les recherches / Habilitation to supervise research * 2005 : Professeur des universités / Full Professor =Certificats d'authenticité / Certificates of Authenticity= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. Starting from September 2020, all recommendation letters, thesis reports, and project reviews will be certified using a QR code that links to this section of my personal page. To verify the authenticity of the document, simply download the corresponding PDF by following the link below and enter the password located under the QR code of the document to be verified. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat / Example]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats / Access to certificates] <br style="clear: both" /> =Responsabilités / Duties= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. * Editeur associé du journal ''IEEE Robotics and Automation Letters'' depuis 2024. * Co-head for the [http://masteririv.u-strasbg.fr/index.php/Accueil IRIV Master’s program] since 2015. * Head for the [https://www.master-iriv.fr/m2/parcours-ar AR track] of the [http://master-iriv.u-strasbg.fr/ IRIV Master’s program] since 2005. * Member of the Board of Directors of Telecom Physique Strasbourg since 2010. * Member of the Advisory Board of Telecom Physique Strasbourg since 2010. * Leader of the “Complex Systems and Sparsity” theme of the RDH team since 2021. * Chairman of the Scientific Expert Committee of Télécom Physique Strasbourg since 2022. * Associate Editor of the journal ‘‘IEEE Robotics and Automation Letters’’ since 2024. == Responsabilités antérieures / Past Duties== * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement / Teaching= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] Lecturer at [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées / Subjects Taught== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours d'informatique temps-réel ** Cours sur les drones * In the second year: ** Digital Control Course ** Sustainable Engineering Course ** Robotics and Automation Lab Sessions * In the third year and Master 2: ** Robotics Course ** Vision-Based Control Course ** Real-Time Computing Course ** Drone Course == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] Videos of almost all my courses are available on [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA my YouTube channel]. They have been compiled into MOOCs on this page: [https://sites.google.com/view/rbotx/] =Recherche / Research= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. Summary of the last 10 years of my research guided by the principle of frugality. I made this presentation at INRIA Rennes in February 2024 during a seminar organized on the sidelines of Marco Tognon’s Habilitation defense. <youtube>ThW7nigN9hQ</youtube> ==Thématiques / Research Topics== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] * Vision-Based Control * Dynamic Visual Servoing * Predictive Control * Industrial Robotics * Medical and Surgical Robotics * Compensation of Physiological Motion * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Cable-Driven Parallel Robotics] * [https://www.dextair.com Aerial Manipulation] ==Distinctions / Awards== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 * [[Media:award_icra04.pdf|Best Vision Paper Award at ICRA 2004]]. * [[Media:award_tro05.pdf|Best 2005 Paper Award of the journal ‘‘IEEE Transactions on Robotics’’]]. * [[Media:award_miccai07.jpg|Best Medical Robotics Paper Award at the MICCAI 2007 conference]]. * [[Media:award_biorob10.pdf|“Best Conference Paper Award” at the BioRob 2010 conference]]. * [[Media:award_icra11.pdf|Finalist for the “Best Medical Robotics Paper Award” at the ICRA 2011 conference]]. * Awards won by supervised PhD students: ** Roumald Ginhoux received the Poincaré Prize from the Society of Friends of the Universities of Strasbourg in May 2004. ** Wael Bachta received: *** the best thesis prize from the General Council of Bas-Rhin in June 2009, *** the 2nd best thesis prize of the GdR Robotics in 2009. ** Arda Yigit received: *** the best video poster award at JJCR 2020, *** the 2nd best thesis prize of the GdR Robotics in 2022. == Diffusion du savoir / Knowledge Dissemination == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] * Conférence Alsace Tech "[https://youtu.be/kJXx7LR21H4?t=2701 Sobriété : une réalité pour les grandes écoles de notre réseau !]" du 18 juin 2024 * [[Media:LaRecherche2012.pdf|Article on GyroLock published in a special issue of the magazine La Recherche (“Operating on a Beating Heart”, Les Dossiers de la Recherche No. 47, Feb. 2012)]] * [[Media:LAlsace 060412.pdf|Article on the “Beating Heart” project published in the newspaper “L’Alsace” on April 6, 2012]] * Alsace Tech Conference “[https://youtu.be/kJXx7LR21H4?t=2701 Sobriety: A Reality for the Leading Schools in Our Network!]” on June 18, 2024 == Logiciels / Softwares == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. * [https://github.com/jacqu/rpit RPIt]: Matlab/Simulink toolbox for controlling a Linux/Debian target from Simulink coder in “external mode” * [https://github.com/jacqu/betalink Betalink]: Betaflight flight controller in Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar]: Robot controller * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC]: Library for implementing multivariable predictive control. ==Publications== ===Publications téléchargeables=== * [[Media:These_jacques.pdf|Thèse (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 78efcbfad9b02b82c2030ad082c23e49819ad563 564 563 2024-07-16T09:07:22Z Jacques.gangloff 11 /* Publications téléchargeables */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA YouTube] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone / Phone : +33 (0)3 68 85 44 80 * Adresse pro / Prof. address : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau / Office : C132 * Adresse perso / Pers. address : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance / Date of birth * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS) / Engineering Degree from INSA Strasbourg * 1994 : Intégration de l'ENS de Cachan / Admission to ENS Cachan * 1995 : Agrégation de génie électrique / Agrégation in Electrical Engineering * 1996 : DEA de photonique et image / Master degree in Photonics and Imaging * 1999 : Thèse de doctorat / PhD * 2000 : Maître de conférences / Associate Professor * 2004 : Habilitation à diriger les recherches / Habilitation to supervise research * 2005 : Professeur des universités / Full Professor =Certificats d'authenticité / Certificates of Authenticity= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. Starting from September 2020, all recommendation letters, thesis reports, and project reviews will be certified using a QR code that links to this section of my personal page. To verify the authenticity of the document, simply download the corresponding PDF by following the link below and enter the password located under the QR code of the document to be verified. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat / Example]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats / Access to certificates] <br style="clear: both" /> =Responsabilités / Duties= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. * Editeur associé du journal ''IEEE Robotics and Automation Letters'' depuis 2024. * Co-head for the [http://masteririv.u-strasbg.fr/index.php/Accueil IRIV Master’s program] since 2015. * Head for the [https://www.master-iriv.fr/m2/parcours-ar AR track] of the [http://master-iriv.u-strasbg.fr/ IRIV Master’s program] since 2005. * Member of the Board of Directors of Telecom Physique Strasbourg since 2010. * Member of the Advisory Board of Telecom Physique Strasbourg since 2010. * Leader of the “Complex Systems and Sparsity” theme of the RDH team since 2021. * Chairman of the Scientific Expert Committee of Télécom Physique Strasbourg since 2022. * Associate Editor of the journal ‘‘IEEE Robotics and Automation Letters’’ since 2024. == Responsabilités antérieures / Past Duties== * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement / Teaching= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] Lecturer at [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées / Subjects Taught== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours d'informatique temps-réel ** Cours sur les drones * In the second year: ** Digital Control Course ** Sustainable Engineering Course ** Robotics and Automation Lab Sessions * In the third year and Master 2: ** Robotics Course ** Vision-Based Control Course ** Real-Time Computing Course ** Drone Course == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] Videos of almost all my courses are available on [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA my YouTube channel]. They have been compiled into MOOCs on this page: [https://sites.google.com/view/rbotx/] =Recherche / Research= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. Summary of the last 10 years of my research guided by the principle of frugality. I made this presentation at INRIA Rennes in February 2024 during a seminar organized on the sidelines of Marco Tognon’s Habilitation defense. <youtube>ThW7nigN9hQ</youtube> ==Thématiques / Research Topics== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] * Vision-Based Control * Dynamic Visual Servoing * Predictive Control * Industrial Robotics * Medical and Surgical Robotics * Compensation of Physiological Motion * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Cable-Driven Parallel Robotics] * [https://www.dextair.com Aerial Manipulation] ==Distinctions / Awards== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 * [[Media:award_icra04.pdf|Best Vision Paper Award at ICRA 2004]]. * [[Media:award_tro05.pdf|Best 2005 Paper Award of the journal ‘‘IEEE Transactions on Robotics’’]]. * [[Media:award_miccai07.jpg|Best Medical Robotics Paper Award at the MICCAI 2007 conference]]. * [[Media:award_biorob10.pdf|“Best Conference Paper Award” at the BioRob 2010 conference]]. * [[Media:award_icra11.pdf|Finalist for the “Best Medical Robotics Paper Award” at the ICRA 2011 conference]]. * Awards won by supervised PhD students: ** Roumald Ginhoux received the Poincaré Prize from the Society of Friends of the Universities of Strasbourg in May 2004. ** Wael Bachta received: *** the best thesis prize from the General Council of Bas-Rhin in June 2009, *** the 2nd best thesis prize of the GdR Robotics in 2009. ** Arda Yigit received: *** the best video poster award at JJCR 2020, *** the 2nd best thesis prize of the GdR Robotics in 2022. == Diffusion du savoir / Knowledge Dissemination == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] * Conférence Alsace Tech "[https://youtu.be/kJXx7LR21H4?t=2701 Sobriété : une réalité pour les grandes écoles de notre réseau !]" du 18 juin 2024 * [[Media:LaRecherche2012.pdf|Article on GyroLock published in a special issue of the magazine La Recherche (“Operating on a Beating Heart”, Les Dossiers de la Recherche No. 47, Feb. 2012)]] * [[Media:LAlsace 060412.pdf|Article on the “Beating Heart” project published in the newspaper “L’Alsace” on April 6, 2012]] * Alsace Tech Conference “[https://youtu.be/kJXx7LR21H4?t=2701 Sobriety: A Reality for the Leading Schools in Our Network!]” on June 18, 2024 == Logiciels / Softwares == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. * [https://github.com/jacqu/rpit RPIt]: Matlab/Simulink toolbox for controlling a Linux/Debian target from Simulink coder in “external mode” * [https://github.com/jacqu/betalink Betalink]: Betaflight flight controller in Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar]: Robot controller * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC]: Library for implementing multivariable predictive control. ==Publications== === Publications téléchargeables / Downloads === * [[Media:These_jacques.pdf|Thèse / PhD Thesis (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> efdf085aaae7fbf928c7bc0db8e06bebed821ab0 565 564 2024-07-16T09:07:44Z Jacques.gangloff 11 /* Liste des publications */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA YouTube] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone / Phone : +33 (0)3 68 85 44 80 * Adresse pro / Prof. address : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau / Office : C132 * Adresse perso / Pers. address : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance / Date of birth * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS) / Engineering Degree from INSA Strasbourg * 1994 : Intégration de l'ENS de Cachan / Admission to ENS Cachan * 1995 : Agrégation de génie électrique / Agrégation in Electrical Engineering * 1996 : DEA de photonique et image / Master degree in Photonics and Imaging * 1999 : Thèse de doctorat / PhD * 2000 : Maître de conférences / Associate Professor * 2004 : Habilitation à diriger les recherches / Habilitation to supervise research * 2005 : Professeur des universités / Full Professor =Certificats d'authenticité / Certificates of Authenticity= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. Starting from September 2020, all recommendation letters, thesis reports, and project reviews will be certified using a QR code that links to this section of my personal page. To verify the authenticity of the document, simply download the corresponding PDF by following the link below and enter the password located under the QR code of the document to be verified. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat / Example]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats / Access to certificates] <br style="clear: both" /> =Responsabilités / Duties= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. * Editeur associé du journal ''IEEE Robotics and Automation Letters'' depuis 2024. * Co-head for the [http://masteririv.u-strasbg.fr/index.php/Accueil IRIV Master’s program] since 2015. * Head for the [https://www.master-iriv.fr/m2/parcours-ar AR track] of the [http://master-iriv.u-strasbg.fr/ IRIV Master’s program] since 2005. * Member of the Board of Directors of Telecom Physique Strasbourg since 2010. * Member of the Advisory Board of Telecom Physique Strasbourg since 2010. * Leader of the “Complex Systems and Sparsity” theme of the RDH team since 2021. * Chairman of the Scientific Expert Committee of Télécom Physique Strasbourg since 2022. * Associate Editor of the journal ‘‘IEEE Robotics and Automation Letters’’ since 2024. == Responsabilités antérieures / Past Duties== * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement / Teaching= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] Lecturer at [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées / Subjects Taught== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours d'informatique temps-réel ** Cours sur les drones * In the second year: ** Digital Control Course ** Sustainable Engineering Course ** Robotics and Automation Lab Sessions * In the third year and Master 2: ** Robotics Course ** Vision-Based Control Course ** Real-Time Computing Course ** Drone Course == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] Videos of almost all my courses are available on [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA my YouTube channel]. They have been compiled into MOOCs on this page: [https://sites.google.com/view/rbotx/] =Recherche / Research= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. Summary of the last 10 years of my research guided by the principle of frugality. I made this presentation at INRIA Rennes in February 2024 during a seminar organized on the sidelines of Marco Tognon’s Habilitation defense. <youtube>ThW7nigN9hQ</youtube> ==Thématiques / Research Topics== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] * Vision-Based Control * Dynamic Visual Servoing * Predictive Control * Industrial Robotics * Medical and Surgical Robotics * Compensation of Physiological Motion * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Cable-Driven Parallel Robotics] * [https://www.dextair.com Aerial Manipulation] ==Distinctions / Awards== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 * [[Media:award_icra04.pdf|Best Vision Paper Award at ICRA 2004]]. * [[Media:award_tro05.pdf|Best 2005 Paper Award of the journal ‘‘IEEE Transactions on Robotics’’]]. * [[Media:award_miccai07.jpg|Best Medical Robotics Paper Award at the MICCAI 2007 conference]]. * [[Media:award_biorob10.pdf|“Best Conference Paper Award” at the BioRob 2010 conference]]. * [[Media:award_icra11.pdf|Finalist for the “Best Medical Robotics Paper Award” at the ICRA 2011 conference]]. * Awards won by supervised PhD students: ** Roumald Ginhoux received the Poincaré Prize from the Society of Friends of the Universities of Strasbourg in May 2004. ** Wael Bachta received: *** the best thesis prize from the General Council of Bas-Rhin in June 2009, *** the 2nd best thesis prize of the GdR Robotics in 2009. ** Arda Yigit received: *** the best video poster award at JJCR 2020, *** the 2nd best thesis prize of the GdR Robotics in 2022. == Diffusion du savoir / Knowledge Dissemination == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] * Conférence Alsace Tech "[https://youtu.be/kJXx7LR21H4?t=2701 Sobriété : une réalité pour les grandes écoles de notre réseau !]" du 18 juin 2024 * [[Media:LaRecherche2012.pdf|Article on GyroLock published in a special issue of the magazine La Recherche (“Operating on a Beating Heart”, Les Dossiers de la Recherche No. 47, Feb. 2012)]] * [[Media:LAlsace 060412.pdf|Article on the “Beating Heart” project published in the newspaper “L’Alsace” on April 6, 2012]] * Alsace Tech Conference “[https://youtu.be/kJXx7LR21H4?t=2701 Sobriety: A Reality for the Leading Schools in Our Network!]” on June 18, 2024 == Logiciels / Softwares == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. * [https://github.com/jacqu/rpit RPIt]: Matlab/Simulink toolbox for controlling a Linux/Debian target from Simulink coder in “external mode” * [https://github.com/jacqu/betalink Betalink]: Betaflight flight controller in Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar]: Robot controller * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC]: Library for implementing multivariable predictive control. ==Publications== === Publications téléchargeables / Downloads === * [[Media:These_jacques.pdf|Thèse / PhD Thesis (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications / List of Publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 623c065ebe404073e33f4181fc054e18584087d0 566 565 2024-07-16T09:11:29Z Jacques.gangloff 11 /* Certificats d'authenticité / Certificates of Authenticity */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA YouTube] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone / Phone : +33 (0)3 68 85 44 80 * Adresse pro / Prof. address : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau / Office : C132 * Adresse perso / Pers. address : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance / Date of birth * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS) / Engineering Degree from INSA Strasbourg * 1994 : Intégration de l'ENS de Cachan / Admission to ENS Cachan * 1995 : Agrégation de génie électrique / Agrégation in Electrical Engineering * 1996 : DEA de photonique et image / Master degree in Photonics and Imaging * 1999 : Thèse de doctorat / PhD * 2000 : Maître de conférences / Associate Professor * 2004 : Habilitation à diriger les recherches / Habilitation to supervise research * 2005 : Professeur des universités / Full Professor =Certificats d'authenticité / Certificates of Authenticity= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. Starting from September 2020, all recommendation letters, thesis reports, and project reviews will be certified using a QR code that links to this section of my personal page. To verify the authenticity of the document, simply download the corresponding PDF by following the link below and enter the password located under the QR code of the document to be verified. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat / Example]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats / Access to certificates] <br style="clear: both" /> =Responsabilités / Duties= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. * Editeur associé du journal ''IEEE Robotics and Automation Letters'' depuis 2024. * Co-head for the [http://masteririv.u-strasbg.fr/index.php/Accueil IRIV Master’s program] since 2015. * Head for the [https://www.master-iriv.fr/m2/parcours-ar AR track] of the [http://master-iriv.u-strasbg.fr/ IRIV Master’s program] since 2005. * Member of the Board of Directors of Telecom Physique Strasbourg since 2010. * Member of the Advisory Board of Telecom Physique Strasbourg since 2010. * Leader of the “Complex Systems and Sparsity” theme of the RDH team since 2021. * Chairman of the Scientific Expert Committee of Télécom Physique Strasbourg since 2022. * Associate Editor of the journal ‘‘IEEE Robotics and Automation Letters’’ since 2024. == Responsabilités antérieures / Past Duties== * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement / Teaching= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] Lecturer at [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées / Subjects Taught== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours d'informatique temps-réel ** Cours sur les drones * In the second year: ** Digital Control Course ** Sustainable Engineering Course ** Robotics and Automation Lab Sessions * In the third year and Master 2: ** Robotics Course ** Vision-Based Control Course ** Real-Time Computing Course ** Drone Course == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] Videos of almost all my courses are available on [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA my YouTube channel]. They have been compiled into MOOCs on this page: [https://sites.google.com/view/rbotx/] =Recherche / Research= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. Summary of the last 10 years of my research guided by the principle of frugality. I made this presentation at INRIA Rennes in February 2024 during a seminar organized on the sidelines of Marco Tognon’s Habilitation defense. <youtube>ThW7nigN9hQ</youtube> ==Thématiques / Research Topics== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] * Vision-Based Control * Dynamic Visual Servoing * Predictive Control * Industrial Robotics * Medical and Surgical Robotics * Compensation of Physiological Motion * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Cable-Driven Parallel Robotics] * [https://www.dextair.com Aerial Manipulation] ==Distinctions / Awards== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 * [[Media:award_icra04.pdf|Best Vision Paper Award at ICRA 2004]]. * [[Media:award_tro05.pdf|Best 2005 Paper Award of the journal ‘‘IEEE Transactions on Robotics’’]]. * [[Media:award_miccai07.jpg|Best Medical Robotics Paper Award at the MICCAI 2007 conference]]. * [[Media:award_biorob10.pdf|“Best Conference Paper Award” at the BioRob 2010 conference]]. * [[Media:award_icra11.pdf|Finalist for the “Best Medical Robotics Paper Award” at the ICRA 2011 conference]]. * Awards won by supervised PhD students: ** Roumald Ginhoux received the Poincaré Prize from the Society of Friends of the Universities of Strasbourg in May 2004. ** Wael Bachta received: *** the best thesis prize from the General Council of Bas-Rhin in June 2009, *** the 2nd best thesis prize of the GdR Robotics in 2009. ** Arda Yigit received: *** the best video poster award at JJCR 2020, *** the 2nd best thesis prize of the GdR Robotics in 2022. == Diffusion du savoir / Knowledge Dissemination == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] * Conférence Alsace Tech "[https://youtu.be/kJXx7LR21H4?t=2701 Sobriété : une réalité pour les grandes écoles de notre réseau !]" du 18 juin 2024 * [[Media:LaRecherche2012.pdf|Article on GyroLock published in a special issue of the magazine La Recherche (“Operating on a Beating Heart”, Les Dossiers de la Recherche No. 47, Feb. 2012)]] * [[Media:LAlsace 060412.pdf|Article on the “Beating Heart” project published in the newspaper “L’Alsace” on April 6, 2012]] * Alsace Tech Conference “[https://youtu.be/kJXx7LR21H4?t=2701 Sobriety: A Reality for the Leading Schools in Our Network!]” on June 18, 2024 == Logiciels / Softwares == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. * [https://github.com/jacqu/rpit RPIt]: Matlab/Simulink toolbox for controlling a Linux/Debian target from Simulink coder in “external mode” * [https://github.com/jacqu/betalink Betalink]: Betaflight flight controller in Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar]: Robot controller * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC]: Library for implementing multivariable predictive control. ==Publications== === Publications téléchargeables / Downloads === * [[Media:These_jacques.pdf|Thèse / PhD Thesis (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications / List of Publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 77d67cebbdabc70d7e249e891c265462ade545b5 567 566 2024-07-16T09:11:39Z Jacques.gangloff 11 /* Certificats d'authenticité / Certificates of Authenticity */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA YouTube] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone / Phone : +33 (0)3 68 85 44 80 * Adresse pro / Prof. address : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau / Office : C132 * Adresse perso / Pers. address : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance / Date of birth * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS) / Engineering Degree from INSA Strasbourg * 1994 : Intégration de l'ENS de Cachan / Admission to ENS Cachan * 1995 : Agrégation de génie électrique / Agrégation in Electrical Engineering * 1996 : DEA de photonique et image / Master degree in Photonics and Imaging * 1999 : Thèse de doctorat / PhD * 2000 : Maître de conférences / Associate Professor * 2004 : Habilitation à diriger les recherches / Habilitation to supervise research * 2005 : Professeur des universités / Full Professor =Certificats d'authenticité / Certificates of Authenticity= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. Starting from September 2020, all recommendation letters, thesis reports, and project reviews will be certified using a QR code that links to this section of my personal page. To verify the authenticity of the document, simply download the corresponding PDF by following the link below and enter the password located under the QR code of the document to be verified. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat / Example]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats / Access to certificates] <br style="clear: both" /> =Responsabilités / Duties= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. * Editeur associé du journal ''IEEE Robotics and Automation Letters'' depuis 2024. * Co-head for the [http://masteririv.u-strasbg.fr/index.php/Accueil IRIV Master’s program] since 2015. * Head for the [https://www.master-iriv.fr/m2/parcours-ar AR track] of the [http://master-iriv.u-strasbg.fr/ IRIV Master’s program] since 2005. * Member of the Board of Directors of Telecom Physique Strasbourg since 2010. * Member of the Advisory Board of Telecom Physique Strasbourg since 2010. * Leader of the “Complex Systems and Sparsity” theme of the RDH team since 2021. * Chairman of the Scientific Expert Committee of Télécom Physique Strasbourg since 2022. * Associate Editor of the journal ‘‘IEEE Robotics and Automation Letters’’ since 2024. == Responsabilités antérieures / Past Duties== * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement / Teaching= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] Lecturer at [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées / Subjects Taught== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours d'informatique temps-réel ** Cours sur les drones * In the second year: ** Digital Control Course ** Sustainable Engineering Course ** Robotics and Automation Lab Sessions * In the third year and Master 2: ** Robotics Course ** Vision-Based Control Course ** Real-Time Computing Course ** Drone Course == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] Videos of almost all my courses are available on [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA my YouTube channel]. They have been compiled into MOOCs on this page: [https://sites.google.com/view/rbotx/] =Recherche / Research= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. Summary of the last 10 years of my research guided by the principle of frugality. I made this presentation at INRIA Rennes in February 2024 during a seminar organized on the sidelines of Marco Tognon’s Habilitation defense. <youtube>ThW7nigN9hQ</youtube> ==Thématiques / Research Topics== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] * Vision-Based Control * Dynamic Visual Servoing * Predictive Control * Industrial Robotics * Medical and Surgical Robotics * Compensation of Physiological Motion * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Cable-Driven Parallel Robotics] * [https://www.dextair.com Aerial Manipulation] ==Distinctions / Awards== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 * [[Media:award_icra04.pdf|Best Vision Paper Award at ICRA 2004]]. * [[Media:award_tro05.pdf|Best 2005 Paper Award of the journal ‘‘IEEE Transactions on Robotics’’]]. * [[Media:award_miccai07.jpg|Best Medical Robotics Paper Award at the MICCAI 2007 conference]]. * [[Media:award_biorob10.pdf|“Best Conference Paper Award” at the BioRob 2010 conference]]. * [[Media:award_icra11.pdf|Finalist for the “Best Medical Robotics Paper Award” at the ICRA 2011 conference]]. * Awards won by supervised PhD students: ** Roumald Ginhoux received the Poincaré Prize from the Society of Friends of the Universities of Strasbourg in May 2004. ** Wael Bachta received: *** the best thesis prize from the General Council of Bas-Rhin in June 2009, *** the 2nd best thesis prize of the GdR Robotics in 2009. ** Arda Yigit received: *** the best video poster award at JJCR 2020, *** the 2nd best thesis prize of the GdR Robotics in 2022. == Diffusion du savoir / Knowledge Dissemination == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] * Conférence Alsace Tech "[https://youtu.be/kJXx7LR21H4?t=2701 Sobriété : une réalité pour les grandes écoles de notre réseau !]" du 18 juin 2024 * [[Media:LaRecherche2012.pdf|Article on GyroLock published in a special issue of the magazine La Recherche (“Operating on a Beating Heart”, Les Dossiers de la Recherche No. 47, Feb. 2012)]] * [[Media:LAlsace 060412.pdf|Article on the “Beating Heart” project published in the newspaper “L’Alsace” on April 6, 2012]] * Alsace Tech Conference “[https://youtu.be/kJXx7LR21H4?t=2701 Sobriety: A Reality for the Leading Schools in Our Network!]” on June 18, 2024 == Logiciels / Softwares == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. * [https://github.com/jacqu/rpit RPIt]: Matlab/Simulink toolbox for controlling a Linux/Debian target from Simulink coder in “external mode” * [https://github.com/jacqu/betalink Betalink]: Betaflight flight controller in Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar]: Robot controller * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC]: Library for implementing multivariable predictive control. ==Publications== === Publications téléchargeables / Downloads === * [[Media:These_jacques.pdf|Thèse / PhD Thesis (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications / List of Publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> a1f76ab1f917aa8f254427193158631e01804792 568 567 2024-07-16T09:13:02Z Jacques.gangloff 11 /* Diffusion du savoir / Knowledge Dissemination */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA YouTube] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone / Phone : +33 (0)3 68 85 44 80 * Adresse pro / Prof. address : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau / Office : C132 * Adresse perso / Pers. address : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance / Date of birth * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS) / Engineering Degree from INSA Strasbourg * 1994 : Intégration de l'ENS de Cachan / Admission to ENS Cachan * 1995 : Agrégation de génie électrique / Agrégation in Electrical Engineering * 1996 : DEA de photonique et image / Master degree in Photonics and Imaging * 1999 : Thèse de doctorat / PhD * 2000 : Maître de conférences / Associate Professor * 2004 : Habilitation à diriger les recherches / Habilitation to supervise research * 2005 : Professeur des universités / Full Professor =Certificats d'authenticité / Certificates of Authenticity= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. Starting from September 2020, all recommendation letters, thesis reports, and project reviews will be certified using a QR code that links to this section of my personal page. To verify the authenticity of the document, simply download the corresponding PDF by following the link below and enter the password located under the QR code of the document to be verified. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat / Example]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats / Access to certificates] <br style="clear: both" /> =Responsabilités / Duties= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. * Editeur associé du journal ''IEEE Robotics and Automation Letters'' depuis 2024. * Co-head for the [http://masteririv.u-strasbg.fr/index.php/Accueil IRIV Master’s program] since 2015. * Head for the [https://www.master-iriv.fr/m2/parcours-ar AR track] of the [http://master-iriv.u-strasbg.fr/ IRIV Master’s program] since 2005. * Member of the Board of Directors of Telecom Physique Strasbourg since 2010. * Member of the Advisory Board of Telecom Physique Strasbourg since 2010. * Leader of the “Complex Systems and Sparsity” theme of the RDH team since 2021. * Chairman of the Scientific Expert Committee of Télécom Physique Strasbourg since 2022. * Associate Editor of the journal ‘‘IEEE Robotics and Automation Letters’’ since 2024. == Responsabilités antérieures / Past Duties== * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement / Teaching= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] Lecturer at [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées / Subjects Taught== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours d'informatique temps-réel ** Cours sur les drones * In the second year: ** Digital Control Course ** Sustainable Engineering Course ** Robotics and Automation Lab Sessions * In the third year and Master 2: ** Robotics Course ** Vision-Based Control Course ** Real-Time Computing Course ** Drone Course == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] Videos of almost all my courses are available on [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA my YouTube channel]. They have been compiled into MOOCs on this page: [https://sites.google.com/view/rbotx/] =Recherche / Research= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. Summary of the last 10 years of my research guided by the principle of frugality. I made this presentation at INRIA Rennes in February 2024 during a seminar organized on the sidelines of Marco Tognon’s Habilitation defense. <youtube>ThW7nigN9hQ</youtube> ==Thématiques / Research Topics== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] * Vision-Based Control * Dynamic Visual Servoing * Predictive Control * Industrial Robotics * Medical and Surgical Robotics * Compensation of Physiological Motion * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Cable-Driven Parallel Robotics] * [https://www.dextair.com Aerial Manipulation] ==Distinctions / Awards== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 * [[Media:award_icra04.pdf|Best Vision Paper Award at ICRA 2004]]. * [[Media:award_tro05.pdf|Best 2005 Paper Award of the journal ‘‘IEEE Transactions on Robotics’’]]. * [[Media:award_miccai07.jpg|Best Medical Robotics Paper Award at the MICCAI 2007 conference]]. * [[Media:award_biorob10.pdf|“Best Conference Paper Award” at the BioRob 2010 conference]]. * [[Media:award_icra11.pdf|Finalist for the “Best Medical Robotics Paper Award” at the ICRA 2011 conference]]. * Awards won by supervised PhD students: ** Roumald Ginhoux received the Poincaré Prize from the Society of Friends of the Universities of Strasbourg in May 2004. ** Wael Bachta received: *** the best thesis prize from the General Council of Bas-Rhin in June 2009, *** the 2nd best thesis prize of the GdR Robotics in 2009. ** Arda Yigit received: *** the best video poster award at JJCR 2020, *** the 2nd best thesis prize of the GdR Robotics in 2022. == Diffusion du savoir / Knowledge Dissemination == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] * Conférence Alsace Tech "[https://youtu.be/kJXx7LR21H4?t=2701 Sobriété : une réalité pour les grandes écoles de notre réseau !]" du 18 juin 2024 * [[Media:LaRecherche2012.pdf|Article on GyroLock published in a special issue of the magazine La Recherche (“Operating on a Beating Heart”, Les Dossiers de la Recherche No. 47, Feb. 2012)]] * [[Media:LAlsace 060412.pdf|Article on the “Beating Heart” project published in the newspaper “L’Alsace” on April 6, 2012]] * Alsace Tech Conference “[https://youtu.be/kJXx7LR21H4?t=2701 Sobriety: A Reality for the Engineering Schools in Our Network!]” on June 18, 2024 == Logiciels / Softwares == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. * [https://github.com/jacqu/rpit RPIt]: Matlab/Simulink toolbox for controlling a Linux/Debian target from Simulink coder in “external mode” * [https://github.com/jacqu/betalink Betalink]: Betaflight flight controller in Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar]: Robot controller * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC]: Library for implementing multivariable predictive control. ==Publications== === Publications téléchargeables / Downloads === * [[Media:These_jacques.pdf|Thèse / PhD Thesis (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications / List of Publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> f493165dea69860b5bccb23b1db4051824dad454 569 568 2024-07-16T09:13:22Z Jacques.gangloff 11 /* Diffusion du savoir / Knowledge Dissemination */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA YouTube] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone / Phone : +33 (0)3 68 85 44 80 * Adresse pro / Prof. address : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex * Bureau / Office : C132 * Adresse perso / Pers. address : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance / Date of birth * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS) / Engineering Degree from INSA Strasbourg * 1994 : Intégration de l'ENS de Cachan / Admission to ENS Cachan * 1995 : Agrégation de génie électrique / Agrégation in Electrical Engineering * 1996 : DEA de photonique et image / Master degree in Photonics and Imaging * 1999 : Thèse de doctorat / PhD * 2000 : Maître de conférences / Associate Professor * 2004 : Habilitation à diriger les recherches / Habilitation to supervise research * 2005 : Professeur des universités / Full Professor =Certificats d'authenticité / Certificates of Authenticity= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. Starting from September 2020, all recommendation letters, thesis reports, and project reviews will be certified using a QR code that links to this section of my personal page. To verify the authenticity of the document, simply download the corresponding PDF by following the link below and enter the password located under the QR code of the document to be verified. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat / Example]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats / Access to certificates] <br style="clear: both" /> =Responsabilités / Duties= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. * Editeur associé du journal ''IEEE Robotics and Automation Letters'' depuis 2024. * Co-head for the [http://masteririv.u-strasbg.fr/index.php/Accueil IRIV Master’s program] since 2015. * Head for the [https://www.master-iriv.fr/m2/parcours-ar AR track] of the [http://master-iriv.u-strasbg.fr/ IRIV Master’s program] since 2005. * Member of the Board of Directors of Telecom Physique Strasbourg since 2010. * Member of the Advisory Board of Telecom Physique Strasbourg since 2010. * Leader of the “Complex Systems and Sparsity” theme of the RDH team since 2021. * Chairman of the Scientific Expert Committee of Télécom Physique Strasbourg since 2022. * Associate Editor of the journal ‘‘IEEE Robotics and Automation Letters’’ since 2024. == Responsabilités antérieures / Past Duties== * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement / Teaching= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] Lecturer at [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées / Subjects Taught== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours d'informatique temps-réel ** Cours sur les drones * In the second year: ** Digital Control Course ** Sustainable Engineering Course ** Robotics and Automation Lab Sessions * In the third year and Master 2: ** Robotics Course ** Vision-Based Control Course ** Real-Time Computing Course ** Drone Course == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] Videos of almost all my courses are available on [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA my YouTube channel]. They have been compiled into MOOCs on this page: [https://sites.google.com/view/rbotx/] =Recherche / Research= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. Summary of the last 10 years of my research guided by the principle of frugality. I made this presentation at INRIA Rennes in February 2024 during a seminar organized on the sidelines of Marco Tognon’s Habilitation defense. <youtube>ThW7nigN9hQ</youtube> ==Thématiques / Research Topics== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] * Vision-Based Control * Dynamic Visual Servoing * Predictive Control * Industrial Robotics * Medical and Surgical Robotics * Compensation of Physiological Motion * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Cable-Driven Parallel Robotics] * [https://www.dextair.com Aerial Manipulation] ==Distinctions / Awards== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 * [[Media:award_icra04.pdf|Best Vision Paper Award at ICRA 2004]]. * [[Media:award_tro05.pdf|Best 2005 Paper Award of the journal ‘‘IEEE Transactions on Robotics’’]]. * [[Media:award_miccai07.jpg|Best Medical Robotics Paper Award at the MICCAI 2007 conference]]. * [[Media:award_biorob10.pdf|“Best Conference Paper Award” at the BioRob 2010 conference]]. * [[Media:award_icra11.pdf|Finalist for the “Best Medical Robotics Paper Award” at the ICRA 2011 conference]]. * Awards won by supervised PhD students: ** Roumald Ginhoux received the Poincaré Prize from the Society of Friends of the Universities of Strasbourg in May 2004. ** Wael Bachta received: *** the best thesis prize from the General Council of Bas-Rhin in June 2009, *** the 2nd best thesis prize of the GdR Robotics in 2009. ** Arda Yigit received: *** the best video poster award at JJCR 2020, *** the 2nd best thesis prize of the GdR Robotics in 2022. == Diffusion du savoir / Knowledge Dissemination == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] * Conférence Alsace Tech "[https://youtu.be/kJXx7LR21H4?t=2701 Sobriété : une réalité pour les grandes écoles de notre réseau !]" du 18 juin 2024 * [[Media:LaRecherche2012.pdf|Article on GyroLock published in a special issue of the magazine La Recherche (“Operating on a Beating Heart”, Les Dossiers de la Recherche No. 47, Feb. 2012)]] * [[Media:LAlsace 060412.pdf|Article on the “Beating Heart” project published in the newspaper “L’Alsace” on April 6, 2012]] * Alsace Tech Conference “[https://youtu.be/kJXx7LR21H4?t=2701 Frugality: A Reality for the Engineering Schools in Our Network!]” on June 18, 2024 == Logiciels / Softwares == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. * [https://github.com/jacqu/rpit RPIt]: Matlab/Simulink toolbox for controlling a Linux/Debian target from Simulink coder in “external mode” * [https://github.com/jacqu/betalink Betalink]: Betaflight flight controller in Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar]: Robot controller * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC]: Library for implementing multivariable predictive control. ==Publications== === Publications téléchargeables / Downloads === * [[Media:These_jacques.pdf|Thèse / PhD Thesis (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications / List of Publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> 00198cd3da515d6920a7398a8c8ea61ca88dac2c 570 569 2024-07-16T09:16:07Z Jacques.gangloff 11 /* Contacts */ wikitext text/x-wiki [[Image:Jacques_2023.jpg|thumb|right|200px|Jacques Gangloff]] ==Contacts== * Email1 : [mailto:jacques.gangloff@unistra.fr jacques.gangloff@unistra.fr] * Email2 : [mailto:jacques.gangloff@gmail.com jacques.gangloff@gmail.com] * ORCID : [https://orcid.org/0000-0003-4984-942X https://orcid.org/0000-0003-4984-942X] * [https://www.researchgate.net/profile/Jacques_Gangloff Researchgate] * [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA YouTube] * LinkedIn : [https://www.linkedin.com/in/jacques-gangloff-b56493 Jacques Gangloff] * Téléphone / Phone : +33 (0)3 68 85 44 80 * Adresse pro / Prof. address : Télécom Physique Strasbourg, Laboratoire ICube, 300 bd Sébastien Brant BP 10413, 67412 ILLKIRCH cedex, France * Bureau / Office : C132 * Adresse perso / Pers. address : région d’Ingwiller / Val-de-Moder =Curriculum Vitae= * 1969 : Année de naissance / Date of birth * 1992 : Diplôme d'ingénieur de l'INSA de Strasbourg (anciennement ENSAIS) / Engineering Degree from INSA Strasbourg * 1994 : Intégration de l'ENS de Cachan / Admission to ENS Cachan * 1995 : Agrégation de génie électrique / Agrégation in Electrical Engineering * 1996 : DEA de photonique et image / Master degree in Photonics and Imaging * 1999 : Thèse de doctorat / PhD * 2000 : Maître de conférences / Associate Professor * 2004 : Habilitation à diriger les recherches / Habilitation to supervise research * 2005 : Professeur des universités / Full Professor =Certificats d'authenticité / Certificates of Authenticity= A partir de septembre 2020, toutes les lettres de recommandation, les rapports de thèse, ou encore les expertises de projet seront certifiés au moyen d'un QR-code renvoyant vers cette section de ma page personnelle. Pour vérifier l'authenticité du document, il suffit de télécharger le PDF correspondant en suivant le lien ci-dessous et de saisir le mot de passe situé sous le QR-code du document à vérifier. Starting from September 2020, all recommendation letters, thesis reports, and project reviews will be certified using a QR code that links to this section of my personal page. To verify the authenticity of the document, simply download the corresponding PDF by following the link below and enter the password located under the QR code of the document to be verified. [[Image:certexemple.jpg|thumb|left|200px|Exemple de certificat / Example]] [https://drive.google.com/drive/folders/1S34MRKISIre4qyDQHUJbPGfYpkqutVm9?usp=sharing Accéder aux certificats / Access to certificates] <br style="clear: both" /> =Responsabilités / Duties= * Co-responsable du [http://masteririv.u-strasbg.fr/index.php/Accueil master IRIV] depuis 2015. * Responsable du [https://www.master-iriv.fr/m2/parcours-ar parcours AR] du [http://master-iriv.u-strasbg.fr/ Master IRIV] depuis 2005. * Membre du conseil d'administration de Telecom Physique Strasbourg depuis 2010. * Membre du conseil de perfectionnement de Telecom Physique Strasbourg depuis 2010. * Animateur du thème "Systèmes complexes et parcimonie" de l'équipe RDH depuis 2021. * Président du comité d’experts scientifiques de Télécom Physique Strasbourg depuis 2022. * Editeur associé du journal ''IEEE Robotics and Automation Letters'' depuis 2024. * Co-head for the [http://masteririv.u-strasbg.fr/index.php/Accueil IRIV Master’s program] since 2015. * Head for the [https://www.master-iriv.fr/m2/parcours-ar AR track] of the [http://master-iriv.u-strasbg.fr/ IRIV Master’s program] since 2005. * Member of the Board of Directors of Telecom Physique Strasbourg since 2010. * Member of the Advisory Board of Telecom Physique Strasbourg since 2010. * Leader of the “Complex Systems and Sparsity” theme of the RDH team since 2021. * Chairman of the Scientific Expert Committee of Télécom Physique Strasbourg since 2022. * Associate Editor of the journal ‘‘IEEE Robotics and Automation Letters’’ since 2024. == Responsabilités antérieures / Past Duties== * Responsable du département I2S (Ingénierie des Signaux et Systèmes) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2017 à 2022. * Membre du comité d’experts scientifiques 61/63 de l’université de Strasbourg de 2011 à 2022. * Responsable du département TIC (Technologies de l'Information et de la Communication) de [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] de 2009 à 2017. * Membre nommé du CNU 61 de 2011 à 2015. * Responsable de l'[https://www.telecom-physique.fr/formation/departement-ingenierie-des-signaux-et-systemes/ option ISAV] (Ingénierie des Systèmes, Automatique et Vision) de Telecom Physique Strasbourg de 2004 à 2014. * Animateur de [http://icube.unistra.fr/icube/index.php/Environnement_et_d%C3%A9veloppement_durable l'axe transverse EDD] du laboratoire [http://icube.unistra.fr/ ICube] de 2009 à 2013. * Membre du conseil de perfectionnement de Polytech Paris-UPMC. =Fonctions d'enseignement / Teaching= Enseignant à [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] Lecturer at [http://www.telecom-physique.fr/ Telecom Physique Strasbourg] ==Matières enseignées / Subjects Taught== * En deuxième année : ** Cours de commande numérique ** Cours d'ingénierie durable ** Travaux pratiques de robotique et automatisation * En troisième année et en Master 2 : ** Cours de robotique ** Cours de commande par vision ** Cours d'informatique temps-réel ** Cours sur les drones * In the second year: ** Digital Control Course ** Sustainable Engineering Course ** Robotics and Automation Lab Sessions * In the third year and Master 2: ** Robotics Course ** Vision-Based Control Course ** Real-Time Computing Course ** Drone Course == MOOC == Des vidéos de presque tous mes cours sont accessibles sur [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA ma chaine YouTube]. Elles ont été regroupées sous forme de MOOC sur cette page : [https://sites.google.com/view/rbotx/] Videos of almost all my courses are available on [https://www.youtube.com/channel/UC2zoHIXaQoIADUo2KBlpqaA my YouTube channel]. They have been compiled into MOOCs on this page: [https://sites.google.com/view/rbotx/] =Recherche / Research= Synthèse des 10 dernières années de mes recherches guidées par le fil conducteur de la frugalité. J'ai fait cette présentation à l'INRIA Rennes en février 2024 lors d'un séminaire organisé en marge de l'HdR de Marco Tognon. Summary of the last 10 years of my research guided by the principle of frugality. I made this presentation at INRIA Rennes in February 2024 during a seminar organized on the sidelines of Marco Tognon’s Habilitation defense. <youtube>ThW7nigN9hQ</youtube> ==Thématiques / Research Topics== * Commande par vision * Asservissement visuels rapides * Commande prédictive * Robotique de manipulation * Robotique médicale et chirurgicale * Compensation de mouvements physiologiques * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Robotique parallèle à câbles] * [https://www.dextair.com Manipulation aérienne] * Vision-Based Control * Dynamic Visual Servoing * Predictive Control * Industrial Robotics * Medical and Surgical Robotics * Compensation of Physiological Motion * [https://youtube.com/playlist?list=PLMXdciyMZwACQzkxII4DgAoqYA7xqpAos Cable-Driven Parallel Robotics] * [https://www.dextair.com Aerial Manipulation] ==Distinctions / Awards== * [[Media:award_icra04.pdf|Prix du meilleur article de vision à ICRA 2004]]. * [[Media:award_tro05.pdf|Prix du meilleur article 2005 de la revue ''IEEE Transactions on Robotics'']]. * [[Media:award_miccai07.jpg|Prix du meilleur article en robotique médicale à la conférence MICCAI 2007]]. * [[Media:award_biorob10.pdf|"Best Conference Paper Award" à la conférence BioRob 2010]]. * [[Media:award_icra11.pdf|Finaliste du "Best Medical Robotics Paper Award" à la conférence ICRA 2011]]. * Prix obtenus par des thésards encadrés : ** Roumald Ginhoux a obtenu le prix Poincaré de la société des amis des Universités de Strasbourg en mai 2004 ** Wael Bachta a obtenu : *** le prix de thèse du conseil général du Bas-Rhin en juin 2009, *** le 2e prix du GdR robotique en septembre 2009. ** Arda Yigit a obtenu : *** le prix du meilleur poster vidéo aux JJCR 2020 *** le deuxième prix de thèse du GdR robotique en 2022 * [[Media:award_icra04.pdf|Best Vision Paper Award at ICRA 2004]]. * [[Media:award_tro05.pdf|Best 2005 Paper Award of the journal ‘‘IEEE Transactions on Robotics’’]]. * [[Media:award_miccai07.jpg|Best Medical Robotics Paper Award at the MICCAI 2007 conference]]. * [[Media:award_biorob10.pdf|“Best Conference Paper Award” at the BioRob 2010 conference]]. * [[Media:award_icra11.pdf|Finalist for the “Best Medical Robotics Paper Award” at the ICRA 2011 conference]]. * Awards won by supervised PhD students: ** Roumald Ginhoux received the Poincaré Prize from the Society of Friends of the Universities of Strasbourg in May 2004. ** Wael Bachta received: *** the best thesis prize from the General Council of Bas-Rhin in June 2009, *** the 2nd best thesis prize of the GdR Robotics in 2009. ** Arda Yigit received: *** the best video poster award at JJCR 2020, *** the 2nd best thesis prize of the GdR Robotics in 2022. == Diffusion du savoir / Knowledge Dissemination == * [[Media:LaRecherche2012.pdf|Article sur le GyroLock paru dans un numéro spécial du magazine La Recherche ("Opérer à coeur battant", Les Dossiers de la Recherche n°47, fev. 2012)]] * [[Media:LAlsace 060412.pdf|Article sur le projet "Coeur battant" paru dans le journal "L'Alsace" du 6 avril 2012]] * Conférence Alsace Tech "[https://youtu.be/kJXx7LR21H4?t=2701 Sobriété : une réalité pour les grandes écoles de notre réseau !]" du 18 juin 2024 * [[Media:LaRecherche2012.pdf|Article on GyroLock published in a special issue of the magazine La Recherche (“Operating on a Beating Heart”, Les Dossiers de la Recherche No. 47, Feb. 2012)]] * [[Media:LAlsace 060412.pdf|Article on the “Beating Heart” project published in the newspaper “L’Alsace” on April 6, 2012]] * Alsace Tech Conference “[https://youtu.be/kJXx7LR21H4?t=2701 Frugality: A Reality for the Engineering Schools in Our Network!]” on June 18, 2024 == Logiciels / Softwares == * [https://github.com/jacqu/rpit RPIt] : toolbox Matlab/Simulink pour commander une cible Linux/Debian depuis Simulink coder en "external mode" * [https://github.com/jacqu/betalink Betalink] : controleur de vol Betaflight sous Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar] : controleur de robot * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC] : bibliothèque de fonctions pour réaliser une commande prédictive multivariable. * [https://github.com/jacqu/rpit RPIt]: Matlab/Simulink toolbox for controlling a Linux/Debian target from Simulink coder in “external mode” * [https://github.com/jacqu/betalink Betalink]: Betaflight flight controller in Simulink * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#CESAR Cesar]: Robot controller * [http://icube-avr.unistra.fr/fr/index.php/Logiciels#MGPC MGPC]: Library for implementing multivariable predictive control. ==Publications== === Publications téléchargeables / Downloads === * [[Media:These_jacques.pdf|Thèse / PhD Thesis (1999)]] * [[Media:hdr_jacques.pdf|Habilitation à diriger des recherches (2004)]] ===Liste des publications / List of Publications=== <iframe key="papr" path="?author=Gangloff+Jacques&allaut=and&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu" allowfullscreen="" /> dec3d99dc1e1f9cfff4a26bf0a3be1545692d710 0 46 571 510 2024-10-08T20:06:39Z Nageotte 14 wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> <!-- =News : Two open PhD positions in Medical robotics= == Vision-based Trajectory Tracking Robust to Modeling Errors == === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 == Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening == === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 --> =Curriculum Vitae= * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shool, Strasbourg. Major in robotics. =Responsibilities= * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In Telecom Physique Strasbourg === ==== Healthtech Master and Third year TIS DTMI (M2 level), ==== * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> ==== M2 IRIV / IRMC ==== * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> ==== TPS, Second year and M1 IRIV ==== * Tutorials on OpenCV * Computer vision course (mosaicking, reconstruction of planar objects) === In Physics and engineering department of University of Strasbourg === ==== Electronic systems and Mechatronics Bachelor (Third year) ==== * Tutorials and hands-on in continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> ==== Micro and Nano Electronics Master (First year) ==== * Course, tutorials and hands-on in discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === Past lectures === ==== TPS FIP Third year ==== * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses supervision (defended theses) ** Paul Mondou (with Jonathan Vappou, Anthony Novell and Benoit Larrat (CEA Neurospin)), partly funded by CAMI Labex, defended on December 2023, "Intelligent control of microbubbles cavitation through the skull for optimizing US therapies" ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), defended on May 3 2023: Shared control for minimally invasive surgery ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University of Verona, Italy)), defended on January 16 2023 ** Gaelle Thomas, defended in October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Oscar Caravaca Mora, defended in February 2020 (Development of steerable OCT catheterfor endoscopic applications) ** Laure-Anaïs Chanel, defended in March 2016 (Robotic HIFU treatments under ultrasounds imaging, funded by CAMI labex) ** Paolo Cabras, defended in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021 ** Mahdi Chaari, (MSII Doctoral school PhD thesis), since October 2023 ** Guilherme Correia, (with Jonathan Vappou, funded by Healthtech and TechnoFUS joint lab), since October 2023 * Co-supervisions: ** Fernando Gonzalez Herrera, (with Benoit Rosa, Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** Giorgia Baldazzi (2024) ** Adnan Saood (2022) ** Tania Olmo Fajardo (2022) ** Edgard Weissrock (2022) ** François Lavieille (2021) ** Thibault Poignonec (2019) ** Xuan Thao Ha (2018) ** Mohamed Amine Falek (2017) == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * FUS-Cobot (2023-2025), led by Axilum Robotics with ICube as scientific partner: Development of robotic solutions for FUS-induced neuro-stimulation, funded by Fondation FORCE * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » <!-- = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. --> =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | 4283ebc9d60882b1a1385961eaf6f7c5f0b411f0 572 571 2024-10-08T20:08:23Z Nageotte 14 /* Curriculum Vitae */ wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> <!-- =News : Two open PhD positions in Medical robotics= == Vision-based Trajectory Tracking Robust to Modeling Errors == === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 == Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening == === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 --> =Curriculum Vitae= * 2024: Appointed Professor * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shcool, Strasbourg. Major in robotics. =Responsibilities= * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In Telecom Physique Strasbourg === ==== Healthtech Master and Third year TIS DTMI (M2 level), ==== * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> ==== M2 IRIV / IRMC ==== * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> ==== TPS, Second year and M1 IRIV ==== * Tutorials on OpenCV * Computer vision course (mosaicking, reconstruction of planar objects) === In Physics and engineering department of University of Strasbourg === ==== Electronic systems and Mechatronics Bachelor (Third year) ==== * Tutorials and hands-on in continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> ==== Micro and Nano Electronics Master (First year) ==== * Course, tutorials and hands-on in discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === Past lectures === ==== TPS FIP Third year ==== * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses supervision (defended theses) ** Paul Mondou (with Jonathan Vappou, Anthony Novell and Benoit Larrat (CEA Neurospin)), partly funded by CAMI Labex, defended on December 2023, "Intelligent control of microbubbles cavitation through the skull for optimizing US therapies" ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), defended on May 3 2023: Shared control for minimally invasive surgery ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University of Verona, Italy)), defended on January 16 2023 ** Gaelle Thomas, defended in October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Oscar Caravaca Mora, defended in February 2020 (Development of steerable OCT catheterfor endoscopic applications) ** Laure-Anaïs Chanel, defended in March 2016 (Robotic HIFU treatments under ultrasounds imaging, funded by CAMI labex) ** Paolo Cabras, defended in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021 ** Mahdi Chaari, (MSII Doctoral school PhD thesis), since October 2023 ** Guilherme Correia, (with Jonathan Vappou, funded by Healthtech and TechnoFUS joint lab), since October 2023 * Co-supervisions: ** Fernando Gonzalez Herrera, (with Benoit Rosa, Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** Giorgia Baldazzi (2024) ** Adnan Saood (2022) ** Tania Olmo Fajardo (2022) ** Edgard Weissrock (2022) ** François Lavieille (2021) ** Thibault Poignonec (2019) ** Xuan Thao Ha (2018) ** Mohamed Amine Falek (2017) == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * FUS-Cobot (2023-2025), led by Axilum Robotics with ICube as scientific partner: Development of robotic solutions for FUS-induced neuro-stimulation, funded by Fondation FORCE * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » <!-- = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. --> =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | d41ad39b5900b10a71c454f3a0146d7e1b3c46b4 576 572 2024-11-13T14:14:47Z Nageotte 14 /* Responsibilities */ wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> <!-- =News : Two open PhD positions in Medical robotics= == Vision-based Trajectory Tracking Robust to Modeling Errors == === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 == Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening == === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 --> =Curriculum Vitae= * 2024: Appointed Professor * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shcool, Strasbourg. Major in robotics. =Responsibilities= * Deputy Head of the RDH team (since Oct. 2024) * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In Telecom Physique Strasbourg === ==== Healthtech Master and Third year TIS DTMI (M2 level), ==== * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> ==== M2 IRIV / IRMC ==== * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> ==== TPS, Second year and M1 IRIV ==== * Tutorials on OpenCV * Computer vision course (mosaicking, reconstruction of planar objects) === In Physics and engineering department of University of Strasbourg === ==== Electronic systems and Mechatronics Bachelor (Third year) ==== * Tutorials and hands-on in continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> ==== Micro and Nano Electronics Master (First year) ==== * Course, tutorials and hands-on in discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === Past lectures === ==== TPS FIP Third year ==== * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses supervision (defended theses) ** Paul Mondou (with Jonathan Vappou, Anthony Novell and Benoit Larrat (CEA Neurospin)), partly funded by CAMI Labex, defended on December 2023, "Intelligent control of microbubbles cavitation through the skull for optimizing US therapies" ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), defended on May 3 2023: Shared control for minimally invasive surgery ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University of Verona, Italy)), defended on January 16 2023 ** Gaelle Thomas, defended in October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Oscar Caravaca Mora, defended in February 2020 (Development of steerable OCT catheterfor endoscopic applications) ** Laure-Anaïs Chanel, defended in March 2016 (Robotic HIFU treatments under ultrasounds imaging, funded by CAMI labex) ** Paolo Cabras, defended in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021 ** Mahdi Chaari, (MSII Doctoral school PhD thesis), since October 2023 ** Guilherme Correia, (with Jonathan Vappou, funded by Healthtech and TechnoFUS joint lab), since October 2023 * Co-supervisions: ** Fernando Gonzalez Herrera, (with Benoit Rosa, Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** Giorgia Baldazzi (2024) ** Adnan Saood (2022) ** Tania Olmo Fajardo (2022) ** Edgard Weissrock (2022) ** François Lavieille (2021) ** Thibault Poignonec (2019) ** Xuan Thao Ha (2018) ** Mohamed Amine Falek (2017) == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * FUS-Cobot (2023-2025), led by Axilum Robotics with ICube as scientific partner: Development of robotic solutions for FUS-induced neuro-stimulation, funded by Fondation FORCE * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » <!-- = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. --> =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | d480ec11db9c0a2433aa6503982ac832530d00b4 577 576 2024-11-13T14:17:23Z Nageotte 14 /* Projects */ wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> <!-- =News : Two open PhD positions in Medical robotics= == Vision-based Trajectory Tracking Robust to Modeling Errors == === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 == Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening == === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 --> =Curriculum Vitae= * 2024: Appointed Professor * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shcool, Strasbourg. Major in robotics. =Responsibilities= * Deputy Head of the RDH team (since Oct. 2024) * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In Telecom Physique Strasbourg === ==== Healthtech Master and Third year TIS DTMI (M2 level), ==== * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> ==== M2 IRIV / IRMC ==== * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> ==== TPS, Second year and M1 IRIV ==== * Tutorials on OpenCV * Computer vision course (mosaicking, reconstruction of planar objects) === In Physics and engineering department of University of Strasbourg === ==== Electronic systems and Mechatronics Bachelor (Third year) ==== * Tutorials and hands-on in continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> ==== Micro and Nano Electronics Master (First year) ==== * Course, tutorials and hands-on in discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === Past lectures === ==== TPS FIP Third year ==== * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses supervision (defended theses) ** Paul Mondou (with Jonathan Vappou, Anthony Novell and Benoit Larrat (CEA Neurospin)), partly funded by CAMI Labex, defended on December 2023, "Intelligent control of microbubbles cavitation through the skull for optimizing US therapies" ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), defended on May 3 2023: Shared control for minimally invasive surgery ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University of Verona, Italy)), defended on January 16 2023 ** Gaelle Thomas, defended in October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Oscar Caravaca Mora, defended in February 2020 (Development of steerable OCT catheterfor endoscopic applications) ** Laure-Anaïs Chanel, defended in March 2016 (Robotic HIFU treatments under ultrasounds imaging, funded by CAMI labex) ** Paolo Cabras, defended in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021 ** Mahdi Chaari, (MSII Doctoral school PhD thesis), since October 2023 ** Guilherme Correia, (with Jonathan Vappou, funded by Healthtech and TechnoFUS joint lab), since October 2023 * Co-supervisions: ** Fernando Gonzalez Herrera, (with Benoit Rosa, Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020 <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** Giorgia Baldazzi (2024) ** Adnan Saood (2022) ** Tania Olmo Fajardo (2022) ** Edgard Weissrock (2022) ** François Lavieille (2021) ** Thibault Poignonec (2019) ** Xuan Thao Ha (2018) ** Mohamed Amine Falek (2017) == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * SENSICAV (2025-2027), ANR project led by Dominique Certon (University of Tours), with ICube as partner. * FUS-Cobot (2023-2025), led by Axilum Robotics with ICube as scientific partner: Development of robotic solutions for FUS-induced neuro-stimulation, funded by Fondation FORCE * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » <!-- = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. --> =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | a0380c952a797f571924086e84fcc7408f5458d7 584 577 2025-02-27T21:55:22Z Nageotte 14 /* Research */ wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> <!-- =News : Two open PhD positions in Medical robotics= == Vision-based Trajectory Tracking Robust to Modeling Errors == === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 == Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening == === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 --> =Curriculum Vitae= * 2024: Appointed Professor * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shcool, Strasbourg. Major in robotics. =Responsibilities= * Deputy Head of the RDH team (since Oct. 2024) * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In Telecom Physique Strasbourg === ==== Healthtech Master and Third year TIS DTMI (M2 level), ==== * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> ==== M2 IRIV / IRMC ==== * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> ==== TPS, Second year and M1 IRIV ==== * Tutorials on OpenCV * Computer vision course (mosaicking, reconstruction of planar objects) === In Physics and engineering department of University of Strasbourg === ==== Electronic systems and Mechatronics Bachelor (Third year) ==== * Tutorials and hands-on in continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> ==== Micro and Nano Electronics Master (First year) ==== * Course, tutorials and hands-on in discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === Past lectures === ==== TPS FIP Third year ==== * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses direction (defended theses) ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), defended on December 2024 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), defended on December 2024 ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), defended on May 3 2023: Shared control for minimally invasive surgery * PhD theses supervision (defended theses) ** Fernando Gonzalez Herrera, (with Benoit Rosa, Gianni Borghesan and Emmanuel Vander Poorten (KUL)), defended on September 2024 ** Paul Mondou (with Jonathan Vappou, Anthony Novell and Benoit Larrat (CEA Neurospin)), partly funded by CAMI Labex, defended on December 2023, "Intelligent control of microbubbles cavitation through the skull for optimizing US therapies" ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University of Verona, Italy)), defended on January 16 2023 ** Gaelle Thomas, defended in October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Oscar Caravaca Mora, defended in February 2020 (Development of steerable OCT catheterfor endoscopic applications) ** Laure-Anaïs Chanel, defended in March 2016 (Robotic HIFU treatments under ultrasounds imaging, funded by CAMI labex) ** Paolo Cabras, defended in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Mahdi Chaari, (MSII Doctoral school PhD thesis), since October 2023 ** Guilherme Correia, (with Jonathan Vappou, funded by Healthtech and TechnoFUS joint lab), since October 2023 * Co-supervisions: <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** Giorgia Baldazzi (2024) ** Adnan Saood (2022) ** Tania Olmo Fajardo (2022) ** Edgard Weissrock (2022) ** François Lavieille (2021) ** Thibault Poignonec (2019) ** Xuan Thao Ha (2018) ** Mohamed Amine Falek (2017) == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * SENSICAV (2025-2027), ANR project led by Dominique Certon (University of Tours), with ICube as partner. * FUS-Cobot (2023-2025), led by Axilum Robotics with ICube as scientific partner: Development of robotic solutions for FUS-induced neuro-stimulation, funded by Fondation FORCE * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » <!-- = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. --> =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | 039681d5a8830c5e2b2aeace7e789424630529c6 586 584 2025-03-03T20:23:38Z Nageotte 14 wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> =News : PhD position in Medical robotics= == Dual control of catheter and guidewire for autonomous endovascular robotics == Endovascular procedures are used for treating various pathologies, including strokes, stenoses, and aneurysms. Telemanipulated robotic systems exist to protect radiologists from X-ray exposure, but these systems still require the clinician to manually control the devices, which remains complex. As a result, procedures can be prolonged, leading to significant patient exposure to X-rays and the repeated injection of contrast agents for vascular visualization. It was previously demonstrated [Scarponi2024b], that real-time realistic simulation combined with reinforcement learning can lead to efficient control strategies able to navigate a guidewire or catheter in complex, previously unseen vascular trees. However, the applicability of the existing system remains limited for 2 main reasons: (1) closed-loop control relies on the ability to measure the shape of the device using embedded sensors, which is often unreliable; and (2) control is limited to a single device, whereas accessing certain lateral branches requires the simultaneous motion of the guidewire and the catheter. Objectives: The main objective of this PhD thesis is to advance research at the intersection of simulation, AI and robotic control to bring autonomous control of robotic endovascular instruments closer to clinical applicability. Our work will focus on enabling the simultaneous control of both the guidewire and the catheter. We will develop simulations to validate the approach and design efficient methods to parametrize the simulation based on observations of the real devices. Deep reinforcement learning tools trained on realistic simulations will be used for the control of both devices. However, given the anticipated challenges in training the agent, we will also investigate an alternative approach based on differentiable simulation. To minimize patient exposure to ionizing radiation, we will rely on Fiber Bragg Grating sensors, embedded in guidewires to reconstruct their 3D shape in real-time. Developing robust methods will be essential to effectively use the data provided by these sensors. Here is the link to the complete description of the PhD proposal: https://drive.google.com/file/d/10G0uzkZdwwXrSYXwRYPXOrzY2xS6Z2W4/view?usp=sharing ===Working Environment=== The PhD thesis will be hosted in the MLMS (Machine Learning, Modeling and Simulation) and RDH (Robotics and Data Science and Healthcare applications) teams of the ICube laboratory ( https://icube.unistra.fr/en/ ) located at Strasbourg's central hospital. The PhD work will be co-supervised by Stéphane Cotin (Research Director at INRIA) and Florent Nageotte (Professor at University of Strasbourg). The PhD will be funded for 3 years by a Grant from the Healthtech Institute and the ENACT AI Cluster. If interested, the PhD student will be offered opportunities to teach. ===Application === We are seeking a highly-qualified candidate who will have completed a Master's degree by September 2025, with a background in robotics, real-time simulation or automatic control. Experience in machine learning - particularly reinforcement learning) will be highly valued. Strong programing skills in Python or C/C++ are expected. The selection process will consist of two stages: - Initial Screening: Candidates will be evaluated based on their submitted documents (see below) and interviews with the PhD supervisors. - Final Interview: Shortlisted candidates will be interviewed by a selection committee on May 27 (subject to possible modification), either in person or via video conference. To apply, send a CV, cover letter, master program and master grades (M1 and first semester of M2) before April 23rd to: nageotte@unistra.fr PhD starting dates: between September and November 2025 <!-- == Vision-based Trajectory Tracking Robust to Modeling Errors == === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 == Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening == === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 --> =Curriculum Vitae= * 2024: Appointed Professor * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shcool, Strasbourg. Major in robotics. =Responsibilities= * Deputy Head of the RDH team (since Oct. 2024) * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In Telecom Physique Strasbourg === ==== Healthtech Master and Third year TIS DTMI (M2 level), ==== * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> ==== M2 IRIV / IRMC ==== * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> ==== TPS, Second year and M1 IRIV ==== * Tutorials on OpenCV * Computer vision course (mosaicking, reconstruction of planar objects) === In Physics and engineering department of University of Strasbourg === ==== Electronic systems and Mechatronics Bachelor (Third year) ==== * Tutorials and hands-on in continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> ==== Micro and Nano Electronics Master (First year) ==== * Course, tutorials and hands-on in discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === Past lectures === ==== TPS FIP Third year ==== * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses direction (defended theses) ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), defended on December 2024 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), defended on December 2024 ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), defended on May 3 2023: Shared control for minimally invasive surgery * PhD theses supervision (defended theses) ** Fernando Gonzalez Herrera, (with Benoit Rosa, Gianni Borghesan and Emmanuel Vander Poorten (KUL)), defended on September 2024 ** Paul Mondou (with Jonathan Vappou, Anthony Novell and Benoit Larrat (CEA Neurospin)), partly funded by CAMI Labex, defended on December 2023, "Intelligent control of microbubbles cavitation through the skull for optimizing US therapies" ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University of Verona, Italy)), defended on January 16 2023 ** Gaelle Thomas, defended in October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Oscar Caravaca Mora, defended in February 2020 (Development of steerable OCT catheterfor endoscopic applications) ** Laure-Anaïs Chanel, defended in March 2016 (Robotic HIFU treatments under ultrasounds imaging, funded by CAMI labex) ** Paolo Cabras, defended in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Mahdi Chaari, (MSII Doctoral school PhD thesis), since October 2023 ** Guilherme Correia, (with Jonathan Vappou, funded by Healthtech and TechnoFUS joint lab), since October 2023 * Co-supervisions: <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** Giorgia Baldazzi (2024) ** Adnan Saood (2022) ** Tania Olmo Fajardo (2022) ** Edgard Weissrock (2022) ** François Lavieille (2021) ** Thibault Poignonec (2019) ** Xuan Thao Ha (2018) ** Mohamed Amine Falek (2017) == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * SENSICAV (2025-2027), ANR project led by Dominique Certon (University of Tours), with ICube as partner. * FUS-Cobot (2023-2025), led by Axilum Robotics with ICube as scientific partner: Development of robotic solutions for FUS-induced neuro-stimulation, funded by Fondation FORCE * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » <!-- = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. --> =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | 8e822a59ecd3c0ffa693e463c383b75b06316263 587 586 2025-03-03T20:26:01Z Nageotte 14 /* Dual control of catheter and guidewire for autonomous endovascular robotics */ wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> =News : PhD position in Medical robotics= == Dual control of catheter and guidewire for autonomous endovascular robotics == Endovascular procedures are used for treating various pathologies, including strokes, stenoses, and aneurysms. Telemanipulated robotic systems exist to protect radiologists from X-ray exposure, but these systems still require the clinician to manually control the devices, which remains complex. As a result, procedures can be prolonged, leading to significant patient exposure to X-rays and the repeated injection of contrast agents for vascular visualization. It was demonstrated in one of our previous works, that real-time realistic simulation combined with reinforcement learning can lead to efficient control strategies able to navigate a guidewire or catheter in complex, previously unseen vascular trees. However, the applicability of the existing system remains limited for 2 main reasons: (1) closed-loop control relies on the ability to measure the shape of the device using embedded sensors, which is often unreliable; and (2) control is limited to a single device, whereas accessing certain lateral branches requires the simultaneous motion of the guidewire and the catheter. Objectives: The main objective of this PhD thesis is to advance research at the intersection of simulation, AI and robotic control to bring autonomous control of robotic endovascular instruments closer to clinical applicability. Our work will focus on enabling the simultaneous control of both the guidewire and the catheter. We will develop simulations to validate the approach and design efficient methods to parametrize the simulation based on observations of the real devices. Deep reinforcement learning tools trained on realistic simulations will be used for the control of both devices. However, given the anticipated challenges in training the agent, we will also investigate an alternative approach based on differentiable simulation. To minimize patient exposure to ionizing radiation, we will rely on Fiber Bragg Grating sensors, embedded in guidewires to reconstruct their 3D shape in real-time. Developing robust methods will be essential to effectively use the data provided by these sensors. Here is the link to the complete description of the PhD proposal: https://drive.google.com/file/d/10G0uzkZdwwXrSYXwRYPXOrzY2xS6Z2W4/view?usp=sharing ===Working Environment=== The PhD thesis will be hosted in the MLMS (Machine Learning, Modeling and Simulation) and RDH (Robotics and Data Science and Healthcare applications) teams of the ICube laboratory ( https://icube.unistra.fr/en/ ) located at Strasbourg's central hospital. The PhD work will be co-supervised by Stéphane Cotin (Research Director at INRIA) and Florent Nageotte (Professor at University of Strasbourg). The PhD will be funded for 3 years by a Grant from the Healthtech Institute and the ENACT AI Cluster. If interested, the PhD student will be offered opportunities to teach. ===Application === We are seeking a highly-qualified candidate who will have completed a Master's degree by September 2025, with a background in robotics, real-time simulation or automatic control. Experience in machine learning - particularly reinforcement learning) will be highly valued. Strong programing skills in Python or C/C++ are expected. The selection process will consist of two stages: - Initial Screening: Candidates will be evaluated based on their submitted documents (see below) and interviews with the PhD supervisors. - Final Interview: Shortlisted candidates will be interviewed by a selection committee on May 27 (subject to possible modification), either in person or via video conference. To apply, send a CV, cover letter, master program and master grades (M1 and first semester of M2) before April 23rd to: nageotte@unistra.fr PhD starting dates: between September and November 2025 <!-- == Vision-based Trajectory Tracking Robust to Modeling Errors == === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 == Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening == === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 --> =Curriculum Vitae= * 2024: Appointed Professor * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shcool, Strasbourg. Major in robotics. =Responsibilities= * Deputy Head of the RDH team (since Oct. 2024) * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In Telecom Physique Strasbourg === ==== Healthtech Master and Third year TIS DTMI (M2 level), ==== * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> ==== M2 IRIV / IRMC ==== * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> ==== TPS, Second year and M1 IRIV ==== * Tutorials on OpenCV * Computer vision course (mosaicking, reconstruction of planar objects) === In Physics and engineering department of University of Strasbourg === ==== Electronic systems and Mechatronics Bachelor (Third year) ==== * Tutorials and hands-on in continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> ==== Micro and Nano Electronics Master (First year) ==== * Course, tutorials and hands-on in discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === Past lectures === ==== TPS FIP Third year ==== * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses direction (defended theses) ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), defended on December 2024 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), defended on December 2024 ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), defended on May 3 2023: Shared control for minimally invasive surgery * PhD theses supervision (defended theses) ** Fernando Gonzalez Herrera, (with Benoit Rosa, Gianni Borghesan and Emmanuel Vander Poorten (KUL)), defended on September 2024 ** Paul Mondou (with Jonathan Vappou, Anthony Novell and Benoit Larrat (CEA Neurospin)), partly funded by CAMI Labex, defended on December 2023, "Intelligent control of microbubbles cavitation through the skull for optimizing US therapies" ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University of Verona, Italy)), defended on January 16 2023 ** Gaelle Thomas, defended in October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Oscar Caravaca Mora, defended in February 2020 (Development of steerable OCT catheterfor endoscopic applications) ** Laure-Anaïs Chanel, defended in March 2016 (Robotic HIFU treatments under ultrasounds imaging, funded by CAMI labex) ** Paolo Cabras, defended in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Mahdi Chaari, (MSII Doctoral school PhD thesis), since October 2023 ** Guilherme Correia, (with Jonathan Vappou, funded by Healthtech and TechnoFUS joint lab), since October 2023 * Co-supervisions: <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** Giorgia Baldazzi (2024) ** Adnan Saood (2022) ** Tania Olmo Fajardo (2022) ** Edgard Weissrock (2022) ** François Lavieille (2021) ** Thibault Poignonec (2019) ** Xuan Thao Ha (2018) ** Mohamed Amine Falek (2017) == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * SENSICAV (2025-2027), ANR project led by Dominique Certon (University of Tours), with ICube as partner. * FUS-Cobot (2023-2025), led by Axilum Robotics with ICube as scientific partner: Development of robotic solutions for FUS-induced neuro-stimulation, funded by Fondation FORCE * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » <!-- = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. --> =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | 16c899ec2b77a8e231fb2c9d83977a1bb03657a4 588 587 2025-03-03T20:49:25Z Nageotte 14 /* Dual control of catheter and guidewire for autonomous endovascular robotics */ wikitext text/x-wiki <center><B><font color="#0066BB" size="5"> Professor in Medical Robotics </font></B></center> <center><B><font color="#0066BB" size="5"> Télécom Physique Strasbourg / ICUBE </font></B></center> <!-- [http://icube-avr.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français]|[[Florent Nageotte Personal Web Page|'''english''']] --> [https://avr.icube.unistra.fr/index.php/Page_personnelle_de_Florent_Nageotte français] | [[Florent Nageotte Personal Web Page|'''english''']] [[Image:florent_nageotte_id3.jpg|thumb|right|200px]] <!-- <center><B><font color="#2244CC" size="3"> Maître de Conférences </font></B></center> <center><B><font color="#2244CC" size="3"> Enseignant en Automatique, chercheur en Robotique </font></B></center> --> <!--[http://eavr.u-strasbg.fr/wiki_en/index.php/Florent_Nageotte_Personal_Web_Page english] | [[Page personnelle de Florent Nageotte|'''français''']] --> =News : PhD position in Medical robotics= == Dual control of catheter and guidewire for autonomous endovascular robotics == Endovascular procedures are used for treating various pathologies, including strokes, stenoses, and aneurysms. Telemanipulated robotic systems exist to protect radiologists from X-ray exposure, but these systems still require the clinician to manually control the devices, which remains complex. As a result, procedures can be prolonged, leading to significant patient exposure to X-rays and the repeated injection of contrast agents for vascular visualization. It was demonstrated in one of our previous works, that real-time realistic simulation combined with reinforcement learning can lead to efficient control strategies able to navigate a guidewire or catheter in complex, previously unseen vascular trees. However, the applicability of the existing system remains limited for 2 main reasons: (1) closed-loop control relies on the ability to measure the shape of the device using embedded sensors, which is often unreliable; and (2) control is limited to a single device, whereas accessing certain lateral branches requires the simultaneous motion of the guidewire and the catheter. Objectives: The main objective of this PhD thesis is to advance research at the intersection of simulation, AI and robotic control to bring autonomous control of robotic endovascular instruments closer to clinical applicability. Our work will focus on enabling the simultaneous control of both the guidewire and the catheter. We will develop simulations to validate the approach and design efficient methods to parametrize the simulation based on observations of the real devices. Deep reinforcement learning tools trained on realistic simulations will be used for the control of both devices. However, given the anticipated challenges in training the agent, we will also investigate an alternative approach based on differentiable simulation. To minimize patient exposure to ionizing radiation, we will rely on Fiber Bragg Grating sensors, embedded in guidewires to reconstruct their 3D shape in real-time. Developing robust methods will be essential to effectively use the data provided by these sensors. Here is the link to the complete description of the PhD proposal: https://drive.google.com/file/d/1VZXWLC7euYtOQeWJBTZ3cumlvsSVqPR6/view?usp=sharing ===Working Environment=== The PhD thesis will be hosted in the MLMS (Machine Learning, Modeling and Simulation) and RDH (Robotics and Data Science and Healthcare applications) teams of the ICube laboratory ( https://icube.unistra.fr/en/ ) located at Strasbourg's central hospital. The PhD work will be co-supervised by Stéphane Cotin (Research Director at INRIA) and Florent Nageotte (Professor at University of Strasbourg). The PhD will be funded for 3 years by a Grant from the Healthtech Institute and the ENACT AI Cluster. If interested, the PhD student will be offered opportunities to teach. ===Application === We are seeking a highly-qualified candidate who will have completed a Master's degree by September 2025, with a background in robotics, real-time simulation or automatic control. Experience in machine learning - particularly reinforcement learning) will be highly valued. Strong programming skills in Python or C/C++ are expected. The selection process will consist of two stages: - Initial Screening: Candidates will be evaluated based on their submitted documents (see below) and interviews with the PhD supervisors. - Final Interview: Shortlisted candidates will be interviewed by a selection committee on May 27 (subject to possible modification), either in person or via video conference. To apply, send a CV, cover letter, master's program and master's grades (M1 and first semester of M2) before April 23rd to: nageotte@unistra.fr PhD starting dates: between September and November 2025 <!-- == Vision-based Trajectory Tracking Robust to Modeling Errors == === PhD Project short description === Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation. In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control. From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research). The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a university committee on June 13 or June 14. To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr PhD starting dates: between September and November 2023 == Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening == === PhD Project short description === The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development. Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner. Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics. The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening. Here is the link to the complete description of the PhD proposal: https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing === Working Environment === The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg. The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist). The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach. === Application === We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology. The selection process will take place in two steps: - First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors - For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined). To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr PhD starting dates: between September and November 2023 --> =Curriculum Vitae= * 2024: Appointed Professor * 2021: Habilitation to direct research (HDR) (defended on Sept. 7, [https://seafile.unistra.fr/f/153b4595225f4b3585fa/?dl=1 electronic document]) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz) * Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master * 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school) * 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR) * 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University) * 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin. * 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos * 2000: Engineering diploma from ENSPS shcool, Strasbourg. Major in robotics. =Responsibilities= * Deputy Head of the RDH team (since Oct. 2024) * Member of the Executive Committee of the [https://healthtech.unistra.fr/ Healthtech Interdisciplinary thematic Institute] * Scientific manager of Medical axis in national robotic equipment platform (TIRREX) * Head of the [https://healthtech.unistra.fr/training/master-program Healthtech track] of [https://www.master-iriv.fr/accueil IRIV master] , funded by Healthtech ITI * Head of the [https://www.master-iriv.fr/m2/parcours-irmc IRMC track] of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC) * Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future =Teaching= Associate Professor at [http://www.unistra.fr/ Université de Strasbourg], attached to [http://www.telecom-physique.fr/ Télécom Physique Strasbourg], (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. <!--[http://www-ulp.u-strasbg.fr/]-->. == Courses == === In Telecom Physique Strasbourg === ==== Healthtech Master and Third year TIS DTMI (M2 level), ==== * CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])--> * Computer vision for medical robotics (pose estimation, robotic registration and visual servoing) <!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])--> <!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])--> ==== M2 IRIV / IRMC ==== * Registration in medical robotics. <!--** Support de cours en [http://eavr.u-strasbg.fr/~nageotte/Support_cours_IRIV_1819_vimp4students.pdf version électronique] et fascicule d'[http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_IRIV_IRMC.pdf exercices]. --> ==== TPS, Second year and M1 IRIV ==== * Tutorials on OpenCV * Computer vision course (mosaicking, reconstruction of planar objects) === In Physics and engineering department of University of Strasbourg === ==== Electronic systems and Mechatronics Bachelor (Third year) ==== * Tutorials and hands-on in continuous-time systems control <!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18) **[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19_vimp4students.pdf Version imprimable] **[http://eavr.u-strasbg.fr/~nageotte/fascicule_L3ESA_2019.pdf sujets de TD] * Travaux pratiques d'automatique --> ==== Micro and Nano Electronics Master (First year) ==== * Course, tutorials and hands-on in discrete-time systems control <!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques) **[http://eavr.u-strasbg.fr/~nageotte/Cours_Autom_M1MNE_2020.pdf version électronique du cours] **[http://eavr.u-strasbg.fr/~nageotte/Support_cours_master_2020_vimp.pdf Transparents de cours] (version de 2020 au format pdf) **[http://eavr.u-strasbg.fr/~nageotte/fascicule_TD_M1MNE_2020.pdf fascicule de TDs] <!--+ [[Media:Support_cours_master_2012_vimp.pdf|version imprimable]]. Des versions plus complètes comprenant les synthèses algébriques (RST, réponse pile), le principe du feedforward et le principe du modèle interne sont disponibles sur simple demande.--> <!--([[Media:Cours_num_M1MNE.pdf|version numérique du cours]])--> <!--**[http://eavr.u-strasbg.fr/~nageotte/sujetsTP_M1MNE_2016.pdf Travaux pratiques d'automatique]--> <!--**[[Media:Support_chap5_7.pdf|Transparents cours chap 5 à 7]] (version provisoire au format pdf)--> <!--**[[Media:Aide_RST.pdf|Aide à la synthèse RST]]--> <!--**[[Media:Cours_num.pdf|Cours complet]] (format pdf)--> <!-- **Cours optionnel (cours / TD / TP) de compléments d'automatique * En master IRIV 2ème année, parcours IRMC ** Cours sur le recalage pour la robotique médicale. [http://eavr.u-strasbg.fr/~nageotte/Support_cours_1516_vimp_4students.pdf Support de cours], version incomplète du 02/02/16. --> <!--** [http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011.pdf Transparents] de cours (version du 06/12/10) ([http://eavr.u-strasbg.fr/~nageotte/Support_Cours_Recalage_2011_vimp.pdf version imprimable] sans les banières colorées) --> === Past lectures === ==== TPS FIP Third year ==== * Medical robotics course <!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage--> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_Cours_FIP_1617_vimp_4students.pdf recalage]--> <!-- [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2016.pdf robotique médicale] et de recalage --> <!--[http://eavr.u-strasbg.fr/~nageotte/Support_cours_FIP3A_1415_4students.pdf recalage] --> <!-- * En 2ème année de la formation d'ingénieurs en partenariat (FIP 2A) : ** Cours et Travaux Pratiques d'automatique ** Le cours est disponible [http://eavr.u-strasbg.fr/~nageotte/Cours_fip_2011_2012_velec.pdf ici] (version du 28/09/11), ainsi que les [http:///eavr.u-strasbg.fr/~nageotte/Support_cours_fip_2011_2012.pdf transparents] projetés pendant les séances --> <!--** [http://eavr.u-strasbg.fr/~nageotte/correction_TD_2010_2011.pdf Correction] partielle des TDs --> == Summer school on Surgical Robotics in Montpellier == <!--* cours d'asservissements visuels appliqués à la robotique médicale, donné lors de la 3ème école d'été européenne de robotique médicale à Montpellier le 24 septembre 2007. [http://www.lirmm.fr/uee07/school.htm Lien] sur la page de l'école où vous pouvez trouver les supports de présentation (transparents et vidéos)--> * Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. [https://www.lirmm.fr/sssr-2021/ Link] to the summer school webpage <!--et [http://eavr.u-strasbg.fr/~nageotte/SlidesVisualServoing_Nageotte.pdf transparents] de la présentation--> =Research= My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project). <!-- Robotic assistance to medical and surgical procedures: * [[Chirurgie_transluminale | Assistance à la chirurgie transluminale]] (projet Anubis dans le cadre du pôle de compétitivité Alsace "Innovations Thérapeutiques" : développement de gestes autonomes et compensation de mouvement physiologique * [http://icube-avr.unistra.fr/en/index.php/STRAS Assistance à la chirurgie endoluminale]: Development, control and telemanipulation of robotic systems based on flexible endoscopes. Application to colorectal cancers treatments. <!-- * [[Assistance à la suture]] en chirurgie laparoscopique--> * PhD theses direction (defended theses) ** Guillaume Lods (with Benoit Rosa and Bernard Bayle), defended on December 2024 ** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), defended on December 2024 ** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), defended on May 3 2023: Shared control for minimally invasive surgery * PhD theses supervision (defended theses) ** Fernando Gonzalez Herrera, (with Benoit Rosa, Gianni Borghesan and Emmanuel Vander Poorten (KUL)), defended on September 2024 ** Paul Mondou (with Jonathan Vappou, Anthony Novell and Benoit Larrat (CEA Neurospin)), partly funded by CAMI Labex, defended on December 2023, "Intelligent control of microbubbles cavitation through the skull for optimizing US therapies" ** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University of Verona, Italy)), defended on January 16 2023 ** Gaelle Thomas, defended in October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat) ** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex) ** Oscar Caravaca Mora, defended in February 2020 (Development of steerable OCT catheterfor endoscopic applications) ** Laure-Anaïs Chanel, defended in March 2016 (Robotic HIFU treatments under ultrasounds imaging, funded by CAMI labex) ** Paolo Cabras, defended in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript] ** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique) ** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale) ** Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS. * Theses in progress: ** Mahdi Chaari, (MSII Doctoral school PhD thesis), since October 2023 ** Guilherme Correia, (with Jonathan Vappou, funded by Healthtech and TechnoFUS joint lab), since October 2023 * Co-supervisions: <!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)--> * Recent Master students ** Giorgia Baldazzi (2024) ** Adnan Saood (2022) ** Tania Olmo Fajardo (2022) ** Edgard Weissrock (2022) ** François Lavieille (2021) ** Thibault Poignonec (2019) ** Xuan Thao Ha (2018) ** Mohamed Amine Falek (2017) == Research interests== * Robotic Assistance to flexible endoscopy, [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS project] * Vision-based control for medical instruments * Estimation through vision * Trajectory planning * Cable-driven robotic systems * Image-based registration == Projects == * SENSICAV (2025-2027), ANR project led by Dominique Certon (University of Tours), with ICube as partner. * FUS-Cobot (2023-2025), led by Axilum Robotics with ICube as scientific partner: Development of robotic solutions for FUS-induced neuro-stimulation, funded by Fondation FORCE * ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging * [https://atlas-itn.eu/ ATLAS], Innovative Training Network (2019-2023), led by KU Leuven (Emmanuel Vander Poorten) ** PhD thesis of Fernando Gonzalez Herrera ** PhD thesis of Guiqiu Liao. Correction of OCT image acquisitions https://www.sciencedirect.com/science/article/pii/S1361841522000081?via%3Dihub, Robotic OCT acquisitions https://hal.archives-ouvertes.fr/hal-03274296/document * 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin ** PhD thesis of Gaelle Thomas and Paul Mondou * ROBOT (2017-2020), 48 monthes, led by Nicolas Andreff (FEMTO-ST), funded by INSERM Plan Cancer 2014-2019. Combining robotics and OCT for optical biopsies in the digestive tract. ** Post-doctoral position of Zhongkai Zhang. Robotic control of OCT for tissues scanning: https://hal.archives-ouvertes.fr/hal-03281611/document ** Detection of flexible instruments using optical flow: https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full * EASE (2014 – 2018), 42 monthes. Coordination: ICube, funded by SATT Conectus. Partners: IRCAD, Karl Storz. ** Development of a version of the [http://icube-avr.unistra.fr/en/index.php/STRAS STRAS robot] compatible with clinics: https://hal.archives-ouvertes.fr/hal-02377106/ ** Preclinical validation in the IRCAD: https://www.gastrojournal.org/article/S0016-5085(19)30367-1/pdf * ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation, Development of a robot for positioning and inserting needles in non vascular interventional radiology. ==Publications== <!-- ===Selected publications=== * Combining Differential Kinematics and Optical Flow for Automatic Labeling of Continuum Robots in Minimally Invasive Surgery, dans Frontiers in Robotics and IA, september 2019, [https://www.frontiersin.org/articles/10.3389/frobt.2019.00086/full Article en open access] * [http://eavr.u-strasbg.fr/~nageotte/TBME_2018_accepted_version.pdf A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD], IEEE Transactions on Biomedical Engineering, April 2018 ([https://ieeexplore.ieee.org/document/7961238/ Abstract IEEExplore]) * [http://eavr.u-strasbg.fr/~nageotte/IJMRCAS_submitted_version_HAL.pdf An adaptive and fully automatic method for estimating the 3D position of bendable instruments using endoscopic images], International Journal of Medical Robotics and Computer-Assisted Surgery, décembre 2017 ([https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.1812 Abstract Wiley online]) * [http://eavr.u-strasbg.fr/~nageotte/TRO11_draft.pdf Transactions on Robotics (avril 2011)] (version draft) * [[Media:draft_initial_ijrr09_NZDD.pdf| numéro spécial sur la robotique médicale de ijrr (oct. 09)]] (version draft) * [[Media:These_florent.pdf|Thèse (2005)]] ===List of publications=== --> <!-- <anyweb> http://lsiit.u-strasbg.fr/Publications/?lg=fr&author=Nageotte&team=4&year=-1&display=rap&optarticles=true&optbooks=true&optconf=true&optmisc=true&optthesis=true&optcontrat=true&optinterne=true&search=0&hide=1 </anyweb> --> http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu <!-- <anyweb> http://icube-intranet.unistra.fr/papr/appli.php?author=Nageotte&title=&team=toutes&annee1=&annee2=&display=rap+&nationalRank=toutes&project=tous&hide=0 </anyweb> --> <!-- <anyweb lg='fr' author='nageotte' equip='AVR' year='-1' display='rap' optarticles ='true' optbooks='true' optconf='true' optmisc='true' optthesis='true' optcontrat='true' optinterne='true' search='0' hide='1'> website=http://lsiit.u-strasbg.fr/Publications/ align=middle height=500 width=680 scroll=auto --> == Invited talks == * Course on visual servoing at Summer School on Surgical Robotics (since 2011). * French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018 * Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? » * Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery » <!-- = Open position for PhD thesis = We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions. The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here]. --> =Personal area= {| === Seattle, WA (ICRA 2015) === |[[Image:P1040158.jpg|thumb|left|200px | Downtown from Lake Union]] |[[Image:P1040271.jpg|thumb|left|200px | Welcome Dinner at the Experience Music Project / Science Fiction Museum]] |[[Image:P1040357.jpg|thumb|left|200px | North view from Columbia Center]] |} {| === Tokyo (Medical robotics seminar at the french embassy) === |[[Image:P1010652.jpg|thumb|left|150px | Asakusa Shrine]] |[[Image:P1010704.jpg|thumb|left|200px | Tokyo from Sunshine60]] |[[Image:P1010748.jpg|thumb|left|200px | Shibuya by night]] |} {| === Texas (Computational Surgery 2011) === |[[Image:cimg5488.jpg|thumb|left|200px | San Antonio Riverside]] |[[Image:cimg5499.jpg|thumb|left|200px | Fort Alamo]] |[[Image:cimg5647.jpg|thumb|left|200px | Texas Medical Center Houston]] |} {| === Minneapolis, MN (EMBC09) === |[[Image:cimg4411.jpg|thumb|left|200px | Downtown Minneapolis]] |[[Image:cimg4401.jpg|thumb|left|200px | The largest Mall in the USA]] |[[Image:cimg4488.jpg|thumb|left|200px | Lake Calhoun)]] |} {| === Japan (Icra09, Kobe) === |[[Image:cimg3594.jpg|thumb|left|200px | Kyoto - Kinkaku-Ji]] |[[Image:cimg3414.jpg|thumb|left|200px | Kobe in sunlight]] |[[Image:cimg3460.jpg|thumb|left|200px | ... and at night]] |} {| === Scottsdale, AZ (Biorob08) === |[[Image:cimg2963.jpg|thumb|left|200px | Scottsdale at sunset]] |[[Image:cimg3031.jpg|thumb|left|200px | The "Sun Valley" viewed from "Camel Moutain"]] |[[Image:cimg2949.jpg|thumb|left|150px | The "best student" rest]] |} {| === California (Icra08, pasadena) === |[[Image:cimg2093.jpg|thumb|left|200px | Flock of Sealions]] |[[Image:cimg2173.jpg|thumb|left|200px | Spare vehicules]] |[[Image:cimg2060.jpg|thumb|left|200px | Santa Barbara]] |} {| === Beijing (Iros06) === |[[Image:cimg0767.jpg|thumb|left|200px | Summer Palace]] |[[Image:cimg0811.jpg|thumb|left|200px | Turtle soup]] |[[Image:cimg0831.jpg|thumb|left|200px | The Great Wall in Grande muraille in mist]] |} {| === Ontario (visit by MDRobotics september 06) === |[[Image:cimg0586.jpg|thumb|left|200px | Niagara falls]] |[[Image:cimg0624.jpg|thumb|left|200px | Toronto from CN tower]] |[[Image:cimg0646.jpg|thumb|left|150px | CN tower, Toronto]] |} {| === San Diego (Medical Imaging 05) === |[[Image:IMG_0899.jpg|thumb|left|200px | Palace]] |[[Image:IMG_0614.jpg|thumb|left|200px | Balboa park]] |[[Image:IMG_0792.jpg|thumb|left|200px | Dolphins in open sea]] |} {| === Chicago (Cars04) === |[[Image:Photo 032.jpg|thumb|left|200px | f246f2b894df4d488883e28ce8e3ede17ccceaf9 6 124 573 2024-10-21T09:10:42Z Aspimmel 42 wikitext text/x-wiki da39a3ee5e6b4b0d3255bfef95601890afd80709 0 16 574 472 2024-10-21T09:11:27Z Aspimmel 42 wikitext text/x-wiki Stage master : Supervision et optimisation de la fabrication additive silicone robotisée [[Media:Sujet_Master_Impression3DSilicone.pdf|Plus d'information]] ''(*new 2024*)'' '''5/6 months M2 internship: Registration of biomechanical models with ultrasound images (RADIUS project)'''<br> Image-guided percutaneous methods have been progressively recognized as an efficient alternative for treating Hepatocellular Carcinoma (HCC). Non-invasive imaging techniques are required to control the needle's placement efficiently. The most spread imaging modality is Ultrasounds (US). This project aims at developing a novel solution for needle steering using intra-operative US images and non-rigid registration of a biomechanical model. We are looking for a trainee for a period of 5 to 6 months (between February and August 2023), level Master 2 or engineering school around the medical and surgical simulation for the insertion of needles guided by the image. This internship will concern the registration of the FE model. The biomechanical models will be used to extrapolate the 3D displacement of the volume, even where no imaging data are available. Such an approach can then be used to display with Augmented Reality (AR) 3D information of the organ on top of medical images and automatic needle steering. For this purpose, we will develop solutions to localize the probe and the US image's plane with an external infrared camera system (Optitrack). <div style="position: relative; overflow: hidden; height: 300px;"> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:TR1.jpg|right|500px| RADIUS 1]]</div> <div style="position: relative; height: 1%;">[[Image:TR2.jpg|right|500px| RADIUS 2]]</div> <div style="position: relative; height: 1%;">[[Image:TR3.jpg|right|500px| RADIUS 3]]</div> </slideshow> </div> </div> Profile required: Very good level of programming in C++ / Good knowledge of image registration and biomechanical simulation / Experience in SOFA is a plus. Supervision: Dr. Hadrien Courtecuisse (CR CNRS) / Dr. Simon Chatelin (CR CNRS), Location: ICube (RDH and MLMS teams), civil hospital site (IHU and Clovis Vincent). [mailto:hcourtecuisse@unistra.fr Contact] '''[https://hadrien.courtecuisse.cnrs.fr/wp-content/uploads/job/stage2023.pdf Click Here for More details]''' '''[http://camma.u-strasbg.fr/opportunities CAMMA group]''': Computational Analysis and Modeling of Medical Activities<br> We are looking for motivated and talented students with knowledge in computer vision and/or machine learning who can contribute to the development of our computer vision system for the operating room. Please feel free to contact Nicolas Padoy if you are interested to do your master's thesis or an internship with us (funding of ~500Euros/month will be provided during 4 to 6 months). The successful candidates will be part of a dynamic and international research group hosted within IHU Strasbourg , at the University Hospital of Strasbourg. They will thereby have direct contact with clinicians, industrial partners and also have access to an exceptional research environment. The CAMMA project is supported by the laboratory of excellence CAMI, the IdEx Unistra and IHU Strasbourg. 1d36748f29312d7129abf05674bbb396728ced14 575 574 2024-10-21T09:11:52Z Aspimmel 42 wikitext text/x-wiki '''Stage master : Supervision et optimisation de la fabrication additive silicone robotisée'''<br> [[Media:Sujet_Master_Impression3DSilicone.pdf|Plus d'information]] ''(*new 2024*)'' '''5/6 months M2 internship: Registration of biomechanical models with ultrasound images (RADIUS project)'''<br> Image-guided percutaneous methods have been progressively recognized as an efficient alternative for treating Hepatocellular Carcinoma (HCC). Non-invasive imaging techniques are required to control the needle's placement efficiently. The most spread imaging modality is Ultrasounds (US). This project aims at developing a novel solution for needle steering using intra-operative US images and non-rigid registration of a biomechanical model. We are looking for a trainee for a period of 5 to 6 months (between February and August 2023), level Master 2 or engineering school around the medical and surgical simulation for the insertion of needles guided by the image. This internship will concern the registration of the FE model. The biomechanical models will be used to extrapolate the 3D displacement of the volume, even where no imaging data are available. Such an approach can then be used to display with Augmented Reality (AR) 3D information of the organ on top of medical images and automatic needle steering. For this purpose, we will develop solutions to localize the probe and the US image's plane with an external infrared camera system (Optitrack). <div style="position: relative; overflow: hidden; height: 300px;"> <div id="wrapper"> <slideshow sequence="random" transition="fade" refresh="3000" center="true"> <div style="position: relative; height: 1%;">[[Image:TR1.jpg|right|500px| RADIUS 1]]</div> <div style="position: relative; height: 1%;">[[Image:TR2.jpg|right|500px| RADIUS 2]]</div> <div style="position: relative; height: 1%;">[[Image:TR3.jpg|right|500px| RADIUS 3]]</div> </slideshow> </div> </div> Profile required: Very good level of programming in C++ / Good knowledge of image registration and biomechanical simulation / Experience in SOFA is a plus. Supervision: Dr. Hadrien Courtecuisse (CR CNRS) / Dr. Simon Chatelin (CR CNRS), Location: ICube (RDH and MLMS teams), civil hospital site (IHU and Clovis Vincent). [mailto:hcourtecuisse@unistra.fr Contact] '''[https://hadrien.courtecuisse.cnrs.fr/wp-content/uploads/job/stage2023.pdf Click Here for More details]''' '''[http://camma.u-strasbg.fr/opportunities CAMMA group]''': Computational Analysis and Modeling of Medical Activities<br> We are looking for motivated and talented students with knowledge in computer vision and/or machine learning who can contribute to the development of our computer vision system for the operating room. Please feel free to contact Nicolas Padoy if you are interested to do your master's thesis or an internship with us (funding of ~500Euros/month will be provided during 4 to 6 months). The successful candidates will be part of a dynamic and international research group hosted within IHU Strasbourg , at the University Hospital of Strasbourg. They will thereby have direct contact with clinicians, industrial partners and also have access to an exceptional research environment. The CAMMA project is supported by the laboratory of excellence CAMI, the IdEx Unistra and IHU Strasbourg. 2d87ab7a1cc234c245d5c21948a6da626db58b34 0 23 578 530 2024-12-09T11:07:11Z Bernard.bayle 5 /* Research */ wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || @IHU de Strasbourg<br> Bernard BAYLE <br> IHU de Strasbourg, RDH/ICube<br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel. : +33 3 90 41 35 46 |} === Research === Researcher in the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] (formerly Automatic control, computer Vision and Robotics) of the ICube laboratory. I am the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. My current research activities are dedicated to physical human-robot interactions, with robot assistance to medical interventions as the main application field. [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_articles&year1=1979#hideMenu Articles], [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_bll&year1=1979#hideMenu Patents], [https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu All publications]<br> [[PhD_supervisions_B._Bayle|PhD supervisions]] === Teaching === Professor at [https://www.telecom-physique.fr/ Télécom Physique Strasbourg], I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[Teaching_B._Bayle|'''here''']]. === Short bio === Bernard Bayle is the deputy head of the Robotics, Data science and Healthcare technologies research group (> 80 people, among which >35 permanent researchers) of the ICube Laboratory. In 2011, he co-founded Axilum Robotics, a company that markets robotic assistance solutions for Transcranial Magnetic Stimulation. As a Professor at Télécom Physique Strasbourg, an engineering school of the University of Strasbourg, he created in 2011 an innovative graduate curriculum in biomedical engineering, focused on information technologies applied to healthcare. Recently, he has been the sponsor of the Interdisciplinary Institute of Information Sciences and Technology for Healthcare (https://healthtech.unistra.fr/) that opened in 2021 at the University of Strasbourg. Prof. Bayle has supervised 11 PhD students as advisor and 6 PhD students as co-advisor (2 PhD awards), and has been awarded of the excellence grant for PhD tutoring and research (PEDR) continuously since 2007. Prof. Bayle is the author of more than 140 scientific publications, 36 publications in international peer-reviewed journals (>60% top-rank journals), 7 book chapters, and more than 50 publications in international peer-reviewed conferences. In addition, in has been an inventor in 7 patent applications. His research interests include design, modeling and control of robotic systems, with a focus on medical robotics and force feedback technologies. 5068e84772511910d9b5c0c2122be44ba579d1b3 579 578 2025-01-15T10:10:02Z Bernard.bayle 5 /* Research */ wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || @IHU de Strasbourg<br> Bernard BAYLE <br> IHU de Strasbourg, RDH/ICube<br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel. : +33 3 90 41 35 46 |} === Research === Researcher in the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] (formerly Automatic control, computer Vision and Robotics) of the ICube laboratory and visiting researcher at the Institut de Robòtica I Informàtica Industrial in Barcelona [https://www.iri.upc.edu/research/perception]. I am the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. My current research activities are dedicated to physical human-robot interactions, with robot assistance to medical interventions as the main application field. [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_articles&year1=1979#hideMenu Articles], [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_bll&year1=1979#hideMenu Patents], [https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu All publications]<br> [[PhD_supervisions_B._Bayle|PhD supervisions]] === Teaching === Professor at [https://www.telecom-physique.fr/ Télécom Physique Strasbourg], I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[Teaching_B._Bayle|'''here''']]. === Short bio === Bernard Bayle is the deputy head of the Robotics, Data science and Healthcare technologies research group (> 80 people, among which >35 permanent researchers) of the ICube Laboratory. In 2011, he co-founded Axilum Robotics, a company that markets robotic assistance solutions for Transcranial Magnetic Stimulation. As a Professor at Télécom Physique Strasbourg, an engineering school of the University of Strasbourg, he created in 2011 an innovative graduate curriculum in biomedical engineering, focused on information technologies applied to healthcare. Recently, he has been the sponsor of the Interdisciplinary Institute of Information Sciences and Technology for Healthcare (https://healthtech.unistra.fr/) that opened in 2021 at the University of Strasbourg. Prof. Bayle has supervised 11 PhD students as advisor and 6 PhD students as co-advisor (2 PhD awards), and has been awarded of the excellence grant for PhD tutoring and research (PEDR) continuously since 2007. Prof. Bayle is the author of more than 140 scientific publications, 36 publications in international peer-reviewed journals (>60% top-rank journals), 7 book chapters, and more than 50 publications in international peer-reviewed conferences. In addition, in has been an inventor in 7 patent applications. His research interests include design, modeling and control of robotic systems, with a focus on medical robotics and force feedback technologies. fafe3d8cd4fe66e7f72ce5359b678b3452d954cc 580 579 2025-01-15T10:11:01Z Bernard.bayle 5 /* Research */ wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || @IHU de Strasbourg<br> Bernard BAYLE <br> IHU de Strasbourg, RDH/ICube<br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel. : +33 3 90 41 35 46 |} === Research === Researcher in the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] of the ICube laboratory and visiting researcher at the Institut de Robòtica I Informàtica Industrial in Barcelona [[https://www.iri.upc.edu/research/perception]]. I am the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. My current research activities are dedicated to physical human-robot interactions, with robot assistance to medical interventions as the main application field. [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_articles&year1=1979#hideMenu Articles], [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_bll&year1=1979#hideMenu Patents], [https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu All publications]<br> [[PhD_supervisions_B._Bayle|PhD supervisions]] === Teaching === Professor at [https://www.telecom-physique.fr/ Télécom Physique Strasbourg], I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[Teaching_B._Bayle|'''here''']]. === Short bio === Bernard Bayle is the deputy head of the Robotics, Data science and Healthcare technologies research group (> 80 people, among which >35 permanent researchers) of the ICube Laboratory. In 2011, he co-founded Axilum Robotics, a company that markets robotic assistance solutions for Transcranial Magnetic Stimulation. As a Professor at Télécom Physique Strasbourg, an engineering school of the University of Strasbourg, he created in 2011 an innovative graduate curriculum in biomedical engineering, focused on information technologies applied to healthcare. Recently, he has been the sponsor of the Interdisciplinary Institute of Information Sciences and Technology for Healthcare (https://healthtech.unistra.fr/) that opened in 2021 at the University of Strasbourg. Prof. Bayle has supervised 11 PhD students as advisor and 6 PhD students as co-advisor (2 PhD awards), and has been awarded of the excellence grant for PhD tutoring and research (PEDR) continuously since 2007. Prof. Bayle is the author of more than 140 scientific publications, 36 publications in international peer-reviewed journals (>60% top-rank journals), 7 book chapters, and more than 50 publications in international peer-reviewed conferences. In addition, in has been an inventor in 7 patent applications. His research interests include design, modeling and control of robotic systems, with a focus on medical robotics and force feedback technologies. cbf183c368592c0de7755476ebef785002f0a907 581 580 2025-01-15T10:12:02Z Bernard.bayle 5 /* Research */ wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || @IHU de Strasbourg<br> Bernard BAYLE <br> IHU de Strasbourg, RDH/ICube<br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel. : +33 3 90 41 35 46 |} === Research === Researcher in the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] of the ICube laboratory and visiting researcher at [https://www.iri.upc.edu/research/perception the Institut de Robòtica I Informàtica Industrial] in Barcelona. I am the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. My current research activities are dedicated to physical human-robot interactions, with robot assistance to medical interventions as the main application field. [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_articles&year1=1979#hideMenu Articles], [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_bll&year1=1979#hideMenu Patents], [https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu All publications]<br> [[PhD_supervisions_B._Bayle|PhD supervisions]] === Teaching === Professor at [https://www.telecom-physique.fr/ Télécom Physique Strasbourg], I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[Teaching_B._Bayle|'''here''']]. === Short bio === Bernard Bayle is the deputy head of the Robotics, Data science and Healthcare technologies research group (> 80 people, among which >35 permanent researchers) of the ICube Laboratory. In 2011, he co-founded Axilum Robotics, a company that markets robotic assistance solutions for Transcranial Magnetic Stimulation. As a Professor at Télécom Physique Strasbourg, an engineering school of the University of Strasbourg, he created in 2011 an innovative graduate curriculum in biomedical engineering, focused on information technologies applied to healthcare. Recently, he has been the sponsor of the Interdisciplinary Institute of Information Sciences and Technology for Healthcare (https://healthtech.unistra.fr/) that opened in 2021 at the University of Strasbourg. Prof. Bayle has supervised 11 PhD students as advisor and 6 PhD students as co-advisor (2 PhD awards), and has been awarded of the excellence grant for PhD tutoring and research (PEDR) continuously since 2007. Prof. Bayle is the author of more than 140 scientific publications, 36 publications in international peer-reviewed journals (>60% top-rank journals), 7 book chapters, and more than 50 publications in international peer-reviewed conferences. In addition, in has been an inventor in 7 patent applications. His research interests include design, modeling and control of robotic systems, with a focus on medical robotics and force feedback technologies. bd045343b36288a3c8f2d8e741d1e94142ffa146 582 581 2025-01-15T10:12:37Z Bernard.bayle 5 /* Short bio */ wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || @IHU de Strasbourg<br> Bernard BAYLE <br> IHU de Strasbourg, RDH/ICube<br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel. : +33 3 90 41 35 46 |} === Research === Researcher in the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] of the ICube laboratory and visiting researcher at [https://www.iri.upc.edu/research/perception the Institut de Robòtica I Informàtica Industrial] in Barcelona. I am the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. My current research activities are dedicated to physical human-robot interactions, with robot assistance to medical interventions as the main application field. [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_articles&year1=1979#hideMenu Articles], [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_bll&year1=1979#hideMenu Patents], [https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu All publications]<br> [[PhD_supervisions_B._Bayle|PhD supervisions]] === Teaching === Professor at [https://www.telecom-physique.fr/ Télécom Physique Strasbourg], I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * 1A, TIS1A - Control of continuous systems, Mechatronics * TIS2A DTMI/HealthTech - Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[Teaching_B._Bayle|'''here''']]. === Short bio === Bernard Bayle is a Professor at the University of Strasbourg (Unistra) and a member of the ICube Laboratory within the Robotics, Data Science, and Healthcare Technologies research group, which he headed from 2018 to 2023 (>80 members). Prof. Bayle leads the HealthTech Interdisciplinary Institute (>200 members, 14 partners) at Unistra that combines an interdisciplinary research cluster of excellence with a highly competitive graduate school. He holds a PhD from Toulouse University (LAAS), and a Habilitation from Unistra. His research focuses on the design, modeling, and control of robotic systems, particularly for robotics applications in healthcare. Prof. Bayle has been the PI for 5 research projects (+11 other projects as a participant), and has supervised 19 PhD students. He has authored over 100 scientific publications, including 33 papers in international peer-reviewed journals, with 70% being in top-ranked journals in robotics, mechanical engineering, and biomedical engineering. He is an inventor in 7 patent applications, one of which is utilized by Axilum Robotics, a company he co-founded in 2011. In 2017, Prof. Bayle was an Adjunct Professor at Politecnico di Milano and a visiting researcher at NEARLab. Since January 2025, he has been a visiting researcher at IRI-the Institut de Robòtica I Informàtica Industrial in Barcelona, in the Manipulation and Perception Research line, focusing on the association of learning and control in physical human-robot interaction. 8985e54f4b2f19385093288e12770b1fead8532f 583 582 2025-01-15T10:13:33Z Bernard.bayle 5 /* Teaching */ wikitext text/x-wiki {|- | [[File:Photo bbayle.jpg|120x180px]] || || @IHU de Strasbourg<br> Bernard BAYLE <br> IHU de Strasbourg, RDH/ICube<br> 1, place de l'Hôpital<br> 67091 Strasbourg Cedex, FRANCE<br> Tel. : +33 3 90 41 35 46 |} === Research === Researcher in the [[Main_Page|Robotics, Data science and Heathcare technologies research team]] of the ICube laboratory and visiting researcher at [https://www.iri.upc.edu/research/perception the Institut de Robòtica I Informàtica Industrial] in Barcelona. I am the coordinator of the [https://healthtech.unistra.fr/ HealthTech Interdisciplinary Thematic Institute]. My current research activities are dedicated to physical human-robot interactions, with robot assistance to medical interventions as the main application field. [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_articles&year1=1979#hideMenu Articles], [https://publis.icube.unistra.fr/appli.php?author=Bernard+Bayle&allaut=or&type%5B%5D=opt_bll&year1=1979#hideMenu Patents], [https://publis.icube.unistra.fr/?author=Bernard+Bayle&allaut=or&year1=2002#hideMenu All publications]<br> [[PhD_supervisions_B._Bayle|PhD supervisions]] === Teaching === Professor at [https://www.telecom-physique.fr/ Télécom Physique Strasbourg], I am in charge of the Innovative track on Medical Diagnostics and Treatments (DTMI) of the IT for HealthCare specialization. I teach the following courses: * TIS2A DTMI/HealthTech - Mechatronics and Haptics * 3A ISAV/AR - Mobile Robotics, Actuators Technology * TIS3A DTMI/HealthTech - Robotics, Robot-Assisted Interventions All courses available from Moodle@Unistra, or some documents following the link [[Teaching_B._Bayle|'''here''']]. === Short bio === Bernard Bayle is a Professor at the University of Strasbourg (Unistra) and a member of the ICube Laboratory within the Robotics, Data Science, and Healthcare Technologies research group, which he headed from 2018 to 2023 (>80 members). Prof. Bayle leads the HealthTech Interdisciplinary Institute (>200 members, 14 partners) at Unistra that combines an interdisciplinary research cluster of excellence with a highly competitive graduate school. He holds a PhD from Toulouse University (LAAS), and a Habilitation from Unistra. His research focuses on the design, modeling, and control of robotic systems, particularly for robotics applications in healthcare. Prof. Bayle has been the PI for 5 research projects (+11 other projects as a participant), and has supervised 19 PhD students. He has authored over 100 scientific publications, including 33 papers in international peer-reviewed journals, with 70% being in top-ranked journals in robotics, mechanical engineering, and biomedical engineering. He is an inventor in 7 patent applications, one of which is utilized by Axilum Robotics, a company he co-founded in 2011. In 2017, Prof. Bayle was an Adjunct Professor at Politecnico di Milano and a visiting researcher at NEARLab. Since January 2025, he has been a visiting researcher at IRI-the Institut de Robòtica I Informàtica Industrial in Barcelona, in the Manipulation and Perception Research line, focusing on the association of learning and control in physical human-robot interaction. 410733af3435529a9470d7eef39bb2675c232e4c 0 120 585 476 2025-03-03T14:08:12Z Laroche 8 /* Assumed-mode-based dynamic model for cable robots with non-straight cables */ wikitext text/x-wiki =Assumed-mode-based dynamic model for cable robots with non-straight cables= This Maple script comes with the publication by J. Ayala Cuevas et al. about modeling of a planar cable-driven parallel manipulator with a point platform. It derives step by step the model. Feel free to ask Edouard for a Maple version. [[File:CodeGeneratorCDPR-2.pdf|thumb|Maple script]] J. Ayala Cuevas, E. Laroche, O. Piccin. Assumed-mode-based dynamic model for cable robots with non-straight cables, ''Third International Conference on Cable-Driven Parallel Robots'', Mechan. Machine Science, Vol. 53, Québec, Canada, août 2017, doi:10.1007/978-3-319-61431-1_2 See also the later publications by R. Saadaoui et al.: * R. Saadaoui, O. Piccin, G. Bara, E. Laroche. Modeling and control of a 3-DOF planar cable-driven parallel robot with flexible cables, ''Journal of Dynamic Systems, Measurement and Control'', ASME, to be published. * R. Saadaoui, E. Laroche, G. Bara, O. Piccin. H∞ Control of a Planar 3-DOF Flexible-Cable Manipulator, ''10th IFAC Symposium on Robust Control Design ROCOND 2022'', Kyoto, Japan, août 2022. * R. Saadaoui, O. Piccin, H. Omran, G. Bara, E. Laroche. Control-Oriented Modeling of a Planar Cable-Driven Parallel Robot with Non-Straight Cables, ''10th European Nonlinear Dynamics Conferences ENOC22'', Lyon, France, juillet 2022. * R. Saadaoui, G. Bara, H. Omran, O. Piccin, E. Laroche. H ∞ Synthesis for a Planar Flexible Cable-Driven Robot, ''European Control Conference 2021'', Selective conference, pp. 710-715, Rotterdam, Netherlands, juillet 2021. 35988fd0f291ca73f5fb89bae0653afd291c83c3